Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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nps_sensor_sonar.c
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1 /*
2  * Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #include "nps_sensor_sonar.h"
30 
31 #include "generated/airframe.h"
32 
33 #include "std.h"
34 #include "nps_fdm.h"
35 #include "nps_random.h"
36 #include NPS_SENSORS_PARAMS
37 
39 #ifndef NPS_SONAR_DT
40 #define NPS_SONAR_DT 0.01
41 #endif
42 
44 #ifndef NPS_SONAR_NOISE_STD_DEV
45 #define NPS_SONAR_NOISE_STD_DEV 0.01
46 #endif
47 
48 #ifndef NPS_SONAR_OFFSET
49 #define NPS_SONAR_OFFSET 0
50 #endif
51 
52 
53 void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
54 {
55  sonar->value = 0.;
56  sonar->offset = NPS_SONAR_OFFSET;
58  sonar->next_update = time;
59  sonar->data_available = FALSE;
60 }
61 
62 
64 {
65 
66  if (time < sonar->next_update) {
67  return;
68  }
69 
70  /* agl in meters */
71  sonar->value = fdm.agl + sonar->offset;
72  /* add noise with std dev meters */
73  sonar->value += get_gaussian_noise() * sonar->noise_std_dev;
74 
75  sonar->next_update += NPS_SONAR_DT;
76  sonar->data_available = TRUE;
77 }
double agl
Definition: nps_fdm.h:61
double noise_std_dev
noise standard deviation
struct NpsFdm fdm
Holds all necessary NPS FDM state information.
void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
double get_gaussian_noise(void)
Definition: nps_random.c:109
#define FALSE
Definition: std.h:5
#define TRUE
Definition: std.h:4
#define NPS_SONAR_DT
10Hz default
Simulated sonar for NPS simulator.
void nps_sensor_sonar_run_step(struct NpsSensorSonar *sonar, double time)
double value
sonar reading in meters
double offset
offset in meters
#define NPS_SONAR_NOISE_STD_DEV
standard devition in meters (default 1cm)
#define NPS_SONAR_OFFSET
std::shared_ptr< gazebo::sensors::SonarSensor > sonar