Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="sonar_adc">
  b'<define name="SONAR_OFFSET" value="0" />\n    '
  b'<define name="SONAR_SCALE" value="0.0166" />\n    '
  b'<define name="USE_SONAR" value="" />\n  '
  b'<configure name="ADC_SONAR" value="ADC_X" />\n    '
</module>

Module configuration options

Configure Options

name: ADC_SONAR value: ADC_X
Description: select ADC to use with the sonar

Define Options

name: SONAR_OFFSET value: 0
Description: sensor offset in [adc] - default is 0
name: SONAR_SCALE value: 0.0166
Description: sensor scale factor [m/adc] - default is 0.0166
name: USE_SONAR value:
Description: activate use of sonar in INS extended filter (only rotorcraft)

Module functions

Init Functions

These initialization functions are called once on startup.

sonar_adc_init()

Periodic Functions

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

sonar_adc_read()
- Frequency in Hz: 20
- 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

sonar_adc.h

Source Files

modules/sonar/sonar_adc.c

Raw sonar_adc.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="sonar_adc" dir="sonar" task="sensors">
  <doc>
    <description>
     Sonar ADC driver.
     Reads an anlog sonar sensor and outputs sonar distance in [m]
    </description>
    <configure name="ADC_SONAR" value="ADC_X" description="select ADC to use with the sonar"/>
    <define name="SONAR_OFFSET" value="0"  description="sensor offset in [adc] - default is 0"/>
    <define name="SONAR_SCALE" value="0.0166" description="sensor scale factor [m/adc] - default is 0.0166"/>
    <define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
  </doc>
 
  <dep>
    <depends>adc</depends>
    <provides>sonar</provides>
  </dep>
  <header>
    <file name="sonar_adc.h"/>
  </header>
 
  <init fun="sonar_adc_init()"/>
  <periodic fun="sonar_adc_read()" freq="20"/>
 
  <makefile target="ap|sim">
    <file name="sonar_adc.c"/>
  </makefile>
  <makefile target="ap">
    <define name="ADC_CHANNEL_SONAR" value="$(ADC_SONAR)"/>
    <define name="USE_$(ADC_SONAR)"/>
  </makefile>
 
</module>