airspeed_uavcan module

Airspeed sensor over the uavcan protocol and optionally publishes over ABI.

No detailed description...

Example for airframe file

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

<module name="airspeed_uavcan">
  b'<define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE|FALSE" />\n    '
  b'<define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" />\n    '
  b'<define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" />\n    '
  b'<define name="AIRSPEED_UAVCAN_SEND_ABI" value="true" />\n    '
  b'<define name="AIRSPEED_UAVCAN_DIFF_P_SCALE" value="1.0" />\n  '
</module>

Module configuration options

Define Options

• name: AIRSPEED_UAVCAN_LOWPASS_FILTER value: TRUE|FALSE
  Description: Enable the lowpass filter for the airspeed
• name: AIRSPEED_UAVCAN_LOWPASS_TAU value: 0.15
  Description: Time constant for second order Butterworth low pass filter
• name: AIRSPEED_UAVCAN_LOWPASS_PERIOD value: 0.1
  Description: Period at which the sensor is sending airspeed
• name: AIRSPEED_UAVCAN_SEND_ABI value: true
  Description: Send the uavcan airspeed sensor over ABI
• name: AIRSPEED_UAVCAN_DIFF_P_SCALE value: 1.0
  Description: Pressure scaling correcting factor

Module functions

Init Functions

These initialization functions are called once on startup.

• airspeed_uavcan_init()

Files

Header Files

The following headers are automatically included in modules.h

• airspeed_uavcan.h

Source Files

• modules/sensors/airspeed_uavcan.c

Raw airspeed_uavcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="airspeed_uavcan" dir="sensors" task="sensors">
  <doc>
    <description>
      Airspeed sensor over the uavcan protocol and optionally publishes over ABI. 
    </description>
    <define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE|FALSE" description="Enable the lowpass filter for the airspeed"/>
    <define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter"/>
    <define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" description="Period at which the sensor is sending airspeed"/>
    <define name="AIRSPEED_UAVCAN_SEND_ABI" value="true" description="Send the uavcan airspeed sensor over ABI"/>
    <define name="AIRSPEED_UAVCAN_DIFF_P_SCALE" value="1.0" description="Pressure scaling correcting factor"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="Airspeed UAVCAN">
        <dl_setting shortname="autoset offset" var="autoset_offset" handler="autoset_offset" min="0" max="1" step="1" values="FALSE|TRUE" type="fun" module="modules/sensors/airspeed_uavcan"/>
        <dl_setting shortname="diff_p offset" var="airspeed_uavcan.diff_p_offset" min="-2000" max="1000" step="0.1" type="float"/>
        <dl_setting shortname="diff_p scale" var="airspeed_uavcan.diff_p_scale" min="0" max="1" step="0.01" type="float" param="AIRSPEED_UAVCAN_DIFF_P_SCALE"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>uavcan</depends>
    <provides>airspeed</provides>
  </dep>
  <header>
    <file name="airspeed_uavcan.h"/>
  </header>
  <init fun="airspeed_uavcan_init()"/>
  <makefile target="ap">
    <file name="airspeed_uavcan.c"/>
  </makefile>
</module>