Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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sonar_bebop module

Bebop Sonar driver.

Reads an anlog sonar sensor and outputs sonar distance in [m]

Example for airframe file

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

1 <module name="sonar_bebop">
2  <define name="USE_SONAR" value="" />
3  <define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES" value="" />
4  <define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP" value="0.4" />
5  <define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME" value="1.0" />
6 </module>

Module configuration options

Define Options

  • name: USE_SONAR value:
    Description: activate use of sonar in INS extended filter (only rotorcraft)
  • name: SONAR_BEBOP_FILTER_NARROW_OBSTACLES value:
    Description: Do not return obstacles that are shorter than a given value
  • name: SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP value: 0.4
    Description: Sudden changes in sonar height larger than this value are neglected [unit: meters]
  • name: SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME value: 1.0
    Description: Sudden changes in sonar height shorter than this value are neglected [unit: seconds]

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw sonar_bebop.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="sonar">
<doc>
<description>
Bebop Sonar driver.
Reads an anlog sonar sensor and outputs sonar distance in [m]
</description>
<define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES" value="" description="Do not return obstacles that are shorter than a given value"/>
<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP" value="0.4" description="Sudden changes in sonar height larger than this value are neglected [unit: meters]"/>
<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME" value="1.0" description="Sudden changes in sonar height shorter than this value are neglected [unit: seconds]"/>
</doc>
<header>
<file name="sonar_bebop.h"/>
</header>
<init fun="sonar_bebop_init()"/>
<makefile target="ap|sim">
<file name="sonar_bebop.c"/>
</makefile>
<makefile target="ap">
<define name="USE_SPI0" value="1"/>
<define name="USE_ADC0" value="1"/>
<raw>
include $(CFG_SHARED)/spi_master.makefile
</raw>
</makefile>
</module>