Transfers flow X and Y and range data of the Mateksys3901-l0X sensor to the autopilot
This by the default serial connection not by connecting the debug pins on ther sensor The Data is in MSP compatible output.
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="optical_flow_mateksys_3901_l0x">
b'<define name="MATEKSYS_3901_L0X_MOTION_THRES" value="120" />\n '
b'<define name="MATEKSYS_3901_L0X_DISTANCE_THRES" value="200" />\n '
b'<define name="MATEKSYS_3901_L0X_MAX_DISTANCE" value="2500" />\n '
b'<define name="MATEKSYS_3901_L0X_MAX_FLOW" value="150" />\n '
b'<define name="USE_MATEKSYS_3901_L0X_AGL" value="0" />\n '
b'<define name="USE_MATEKSYS_3901_L0X_OPTICAL_FLOW" value="0" />\n '
b'<define name="MATEKSYS_3901_L0X_COMPENSATE_ROTATION" value="0" />\n '
b'<define name="MATEKSYS_3901_L0X_FLOW_X_SCALER" value="1" />\n '
b'<define name="MATEKSYS_3901_L0X_FLOW_Y_SCALER" value="1" />\n '
b'<configure name="MATEKSYS_3901_L0X_PORT" value="UART1" />\n '
b'<configure name="MATEKSYS_3901_L0X_BAUD" value="115200" />\n '
</module>
Module configuration options
Configure Options
- name:
MATEKSYS_3901_L0X_PORT value: UART1
Description: Set to which UART the sensor serial stream pin is connected to
- name:
MATEKSYS_3901_L0X_BAUD value: 115200
Description: Sets the baudrate of the UART
Define Options
- name:
MATEKSYS_3901_L0X_MOTION_THRES value: 120
Description: Sets the minimum motion quality to accept the flow measurement [0-255]
- name:
MATEKSYS_3901_L0X_DISTANCE_THRES value: 200
Description: Sets the minimum distance quality to accept the distance measurement [0-255]
- name:
MATEKSYS_3901_L0X_MAX_DISTANCE value: 2500
Description: Maximum allowable distance for rangefinder [mm]
- name:
MATEKSYS_3901_L0X_MAX_FLOW value: 150
Description: Maximum allowable flow rate measurable [deg/sec]
- name:
USE_MATEKSYS_3901_L0X_AGL value: 0
Description: Send AGL measurements on ABI bus
- name:
USE_MATEKSYS_3901_L0X_OPTICAL_FLOW value: 0
Description: Send optical flow measurements on ABI bus
- name:
MATEKSYS_3901_L0X_COMPENSATE_ROTATION value: 0
Description: Adjust distance from ground by compensating body rotation
- name:
MATEKSYS_3901_L0X_FLOW_X_SCALER value: 1
Description: Calibration scaling factor for flow in X direction (pitch)
- name:
MATEKSYS_3901_L0X_FLOW_Y_SCALER value: 1
Description: Calibration scaling factor for flow in Y direction (roll)
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw optical_flow_mateksys_3901_l0x.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="optical_flow_mateksys_3901_l0x" dir="optical_flow">
<doc>
<description>
Transfers flow X and Y and range data of the Mateksys3901-l0X sensor to the autopilot
This by the default serial connection not by connecting the debug pins on ther sensor
The Data is in MSP compatible output.
</description>
<configure name="MATEKSYS_3901_L0X_PORT" value="UART1" description="Set to which UART the sensor serial stream pin is connected to"/>
<configure name="MATEKSYS_3901_L0X_BAUD" value="115200" description="Sets the baudrate of the UART"/>
<define name="MATEKSYS_3901_L0X_MOTION_THRES" value="120" description="Sets the minimum motion quality to accept the flow measurement [0-255]"/>
<define name="MATEKSYS_3901_L0X_DISTANCE_THRES" value="200" description="Sets the minimum distance quality to accept the distance measurement [0-255]"/>
<define name="MATEKSYS_3901_L0X_MAX_DISTANCE" value="2500" description="Maximum allowable distance for rangefinder [mm]"/>
<define name="MATEKSYS_3901_L0X_MAX_FLOW" value="150" description="Maximum allowable flow rate measurable [deg/sec] "/>
<define name="USE_MATEKSYS_3901_L0X_AGL" value="0" description="Send AGL measurements on ABI bus"/>
<define name="USE_MATEKSYS_3901_L0X_OPTICAL_FLOW" value="0" description="Send optical flow measurements on ABI bus"/>
<define name="MATEKSYS_3901_L0X_COMPENSATE_ROTATION" value="0" description="Adjust distance from ground by compensating body rotation"/>
<define name="MATEKSYS_3901_L0X_FLOW_X_SCALER" value="1" description="Calibration scaling factor for flow in X direction (pitch)"/>
<define name="MATEKSYS_3901_L0X_FLOW_Y_SCALER" value="1" description="Calibration scaling factor for flow in Y direction (roll)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="optical_flow">
<dl_setting MAX="2" MIN="-2" STEP="0.05" VAR="mateksys3901l0x.scaler_x" shortname="scaler X" module="modules/optical_flow/mateksys_3901_l0x" param="MATEKSYS_3901_L0X_FLOW_X_SCALER" handler="scale_X" type="float" persistent="true"/>
<dl_setting MAX="2" MIN="-2" STEP="0.05" VAR="mateksys3901l0x.scaler_y" shortname="scaler Y" module="modules/optical_flow/mateksys_3901_l0x" param="MATEKSYS_3901_L0X_FLOW_Y_SCALER" handler="scale_Y" type="float" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="mateksys_3901_l0x.h"/>
</header>
<init fun="mateksys3901l0x_init()"/>
<event fun="mateksys3901l0x_event()"/>
<makefile>
<configure name="MATEKSYS_3901_L0X_PORT" default="UART3" case="upper|lower"/>
<configure name="MATEKSYS_3901_L0X_BAUD" default="B115200"/>
<define name="USE_$(MATEKSYS_3901_L0X_PORT_UPPER)"/>
<define name="USE_$(MATEKSYS_3901_L0X_PORT)_TX" value="FALSE"/>
<define name="$(MATEKSYS_3901_L0X_PORT_UPPER)_BAUD" value="$(MATEKSYS_3901_L0X_BAUD)"/>
<define name="MATEKSYS_3901_L0X_PORT" value="$(MATEKSYS_3901_L0X_PORT_LOWER)"/>
<file name="mateksys_3901_l0x.c"/>
</makefile>
<makefile target="nps|sim">
<define name="USE_SONAR" value="1"/>
</makefile>
</module>
1.9.1