Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Loading...
Searching...
No Matches
nps_sensor_sonar.c
Go to the documentation of this file.
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.h"
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#ifndef NPS_SONAR_MIN_DIST
53#define NPS_SONAR_MIN_DIST 0.1f
54#endif
55
56#ifndef NPS_SONAR_MAX_DIST
57#define NPS_SONAR_MAX_DIST 7.0f
58#endif
59
60void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
61{
62 sonar->value = 0.;
63 sonar->offset = NPS_SONAR_OFFSET;
64 sonar->noise_std_dev = NPS_SONAR_NOISE_STD_DEV;
65 sonar->next_update = time;
66 sonar->data_available = FALSE;
67}
68
69
71{
72
73 if (time < sonar->next_update) {
74 return;
75 }
76
77 /* agl in meters */
78 sonar->value = fdm.agl + sonar->offset;
79 /* add noise with std dev meters */
80 sonar->value += get_gaussian_noise() * sonar->noise_std_dev;
81 /* bound value */
83
84 sonar->next_update += NPS_SONAR_DT;
85 sonar->data_available = TRUE;
86}
uint16_t foo
Definition main_demo5.c:58
double agl
Definition nps_fdm.h:61
struct NpsFdm fdm
Holds all necessary NPS FDM state information.
std::shared_ptr< gazebo::sensors::SonarSensor > sonar
double get_gaussian_noise(void)
Definition nps_random.c:109
#define NPS_SONAR_OFFSET
#define NPS_SONAR_NOISE_STD_DEV
standard devition in meters (default 1cm)
void nps_sensor_sonar_run_step(struct NpsSensorSonar *sonar, double time)
#define NPS_SONAR_DT
10Hz default
void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
#define NPS_SONAR_MIN_DIST
#define NPS_SONAR_MAX_DIST
Simulated sonar for NPS simulator.
#define TRUE
Definition std.h:4
#define FALSE
Definition std.h:5