Paparazzi UAS  v5.15_devel-50-g4d7045d
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range_forcefield module

This module generates a forcefield based on range sensor measurements the use of single point range sensor

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="laser_range_array"/>
2 <module name="range_forcefield"/>

Module configuration options

Airframe file section

  • section name: RANGE_FORCEFIELD prefix: RANGE_FORCEFIELD_
    • name INNER_LIMIT value: 1.
      Description: The inner border of the range forcefield, where the MAV will avoid the obstacle with the maximum velocity as given by MIN_VEL (in meters)
    • name OUTER_LIMIT value: 1.4
      Description: The outer border of the range forcefield, where the MAV will start avoiding with velocity determined on the range measurement (starts with MIN_VEL)
    • name MIN_VEL value: 0.0
      Description: The minimum velocity which forces the MAV out of the forcefield (in [m/s])
    • name MAX_VEL value: 0.5
      Description: The maximum velocity which forces the MAV out of the forcefield (in [m/s])

Dependencies

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

  • range_forcefield_periodic()
    • Frequency in Hz: 10
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw range_forcefield.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="range_forcefield" dir="range_forcefield">
<doc>
<description>This module generates a forcefield based on range sensor measurements the use of single point range sensor </description>
<section name="RANGE_FORCEFIELD" prefix="RANGE_FORCEFIELD_">
<define name="INNER_LIMIT" value="1." description="The inner border of the range forcefield, where the MAV will avoid the obstacle with the maximum velocity as given by MIN_VEL (in meters)"/>
<define name="OUTER_LIMIT" value="1.4" description="The outer border of the range forcefield, where the MAV will start avoiding with velocity determined on the range measurement (starts with MIN_VEL)"/>
<define name="MIN_VEL" value="0.0" description="The minimum velocity which forces the MAV out of the forcefield (in [m/s])"/>
<define name="MAX_VEL" value="0.5" description="The maximum velocity which forces the MAV out of the forcefield (in [m/s])"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Range Velocity Force Field">
<dl_setting var="range_forcefield_param.inner_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="inner_limit" param="RANGE_FORCEFIELD_INNER_LIMIT"/>
<dl_setting var="range_forcefield_param.outer_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="outer_limit" param="RANGE_FORCEFIELD_OUTER_LIMIT"/>
<dl_setting var="range_forcefield_param.min_vel" min="0.0" step="0.1" max="1." module="range_forcefield/range_forcefield" shortname="min_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
<dl_setting var="range_forcefield_param.max_vel" min="0.1" step="0.1" max="5." module="range_forcefield/range_forcefield" shortname="max_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
</dl_settings>
</dl_settings>
</settings>
<depends>laser_range_array</depends>
<header>
<file name="range_forcefield.h"/>
</header>
<init fun="range_forcefield_init()"/>
<periodic fun="range_forcefield_periodic()" freq="10"/>
<makefile>
<file name="range_forcefield.c"/>
</makefile>
</module>