tfmini_nps.c File Reference

simulation of a lidar More...

#include "tfmini.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/core/abi.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	LIDAR_MIN_RANGE   0.1
#define	LIDAR_MAX_RANGE   12.0

Functions
static void	tfmini_send_lidar (struct transport_tx *trans, struct link_device *dev)
	Downlink message lidar.
void	tfmini_init (void)
	Initialization function.
void	tfmini_event (void)
	Lidar event function Receive bytes from the UART port and parse them.
void	sim_overwrite_lidar (void)
void	setLidarDistance_f (float distance)
	Set the distance of the lidar This function is used in NPS to set the distance of the lidar.
void	tfmini_send_abi (void)

Variables
struct TFMini	tfmini

Detailed Description

simulation of a lidar

Definition in file tfmini_nps.c.

Macro Definition Documentation

LIDAR_MAX_RANGE

#define LIDAR_MAX_RANGE   12.0

Definition at line 37 of file tfmini_nps.c.

LIDAR_MIN_RANGE

#define LIDAR_MIN_RANGE   0.1

Definition at line 36 of file tfmini_nps.c.

Function Documentation

setLidarDistance_f()

void setLidarDistance_f

(

float

distance

)

Set the distance of the lidar This function is used in NPS to set the distance of the lidar.

Definition at line 123 of file tfmini_nps.c.

References TFMini::distance, foo, LIDAR_MAX_RANGE, tfmini, and tfmini_send_abi().

Referenced by sim_overwrite_lidar().

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sim_overwrite_lidar()

void sim_overwrite_lidar

(

void

)

Definition at line 82 of file tfmini_nps.c.

References ServoLidar::angle, distance_to_wall(), foo, gps, GpsState::lla_pos, ned_of_lla_point_i(), p, FloatEulers::psi, servoLidar, setLidarDistance_f(), stateGetNedOrigin_i(), stateGetNedToBodyEulers_f(), stateIsLocalCoordinateValid(), WallSystem::wall_count, wall_system, WallSystem::walls, FloatVect2::x, and FloatVect2::y.

Referenced by tfmini_event().

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tfmini_event()

void tfmini_event

(

void

)

Lidar event function Receive bytes from the UART port and parse them.

Definition at line 74 of file tfmini_nps.c.

References sim_overwrite_lidar().

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tfmini_init()

void tfmini_init

(

void

)

Initialization function.

Definition at line 63 of file tfmini_nps.c.

References DefaultPeriodic, TFMini::device, TFMini::distance, foo, register_periodic_telemetry(), tfmini, and tfmini_send_lidar().

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tfmini_send_abi()

void tfmini_send_abi

(

void

)

Definition at line 134 of file tfmini_nps.c.

References AGL_LIDAR_TFMINI_ID, TFMini::distance, foo, and tfmini.

Referenced by setLidarDistance_f().

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tfmini_send_lidar()

static void tfmini_send_lidar ( struct transport_tx *  trans, struct link_device *  dev  )

static

Downlink message lidar.

Definition at line 47 of file tfmini_nps.c.

References dev, TFMini::distance, foo, TFMini::mode, TFMini::parse_status, status, and tfmini.

Referenced by tfmini_init().

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Variable Documentation

tfmini

struct TFMini tfmini

Definition at line 39 of file tfmini_nps.c.

Referenced by setLidarDistance_f(), tfmini_init(), tfmini_send_abi(), and tfmini_send_lidar().