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!

<module name="sonar_bebop">
  b'<define name="USE_SONAR" value="" />\n    '
  b'<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES" value="" />\n    '
  b'<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP" value="0.4" />\n    '
  b'<define name="SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME" value="1.0" />\n  '
</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.

• sonar_bebop_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• sonar_bebop_event()

Files

Header Files

The following headers are automatically included in modules.h

• sonar_bebop.h

Source Files

• modules/sonar/sonar_bebop.c

Raw sonar_bebop.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="sonar_bebop" dir="sonar" task="sensors">
  <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>
  <dep>
    <depends>spi_master,adc</depends>
    <provides>sonar</provides>
  </dep>
 
  <header>
    <file name="sonar_bebop.h"/>
  </header>
 
  <init fun="sonar_bebop_init()"/>
  <event fun="sonar_bebop_event()"/>
 
  <makefile target="ap">
    <file name="sonar_bebop.c"/>
    <define name="USE_SPI0" value="1"/>
    <define name="USE_ADC0" value="1"/>
  </makefile>
 
</module>