Paparazzi UAS  v5.12_stable-4-g9b43e9b
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agl_dist.c
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1 /*
2  * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi
5 
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21 
29 #include "modules/sonar/agl_dist.h"
30 #include "subsystems/abi.h"
31 #include "generated/airframe.h"
32 
36 
38 #ifndef AGL_DIST_SONAR_ID
39 #define AGL_DIST_SONAR_ID ABI_BROADCAST
40 #endif
41 #ifndef AGL_DIST_SONAR_MAX_RANGE
42 #define AGL_DIST_SONAR_MAX_RANGE 5.0
43 #endif
44 #ifndef AGL_DIST_SONAR_MIN_RANGE
45 #define AGL_DIST_SONAR_MIN_RANGE 0.001
46 #endif
47 #ifndef AGL_DIST_SONAR_FILTER
48 #define AGL_DIST_SONAR_FILTER 5
49 #endif
50 
52 
53 static void sonar_cb(uint8_t sender_id, float distance);
54 
55 void agl_dist_init(void)
56 {
57  agl_dist_valid = false;
58  agl_dist_value = 0.;
60 
61  // Bind to AGL message
62  AbiBindMsgAGL(AGL_DIST_SONAR_ID, &sonar_ev, sonar_cb);
63 }
64 
65 
66 static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance)
67 {
68  if (distance < AGL_DIST_SONAR_MAX_RANGE && distance > AGL_DIST_SONAR_MIN_RANGE) {
69  agl_dist_value = distance;
70  agl_dist_valid = true;
73  } else {
74  agl_dist_valid = false;
75  }
76 }
77 
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
abi_event sonar_ev
Definition: agl_dist.c:51
Main include for ABI (AirBorneInterface).
#define AGL_DIST_SONAR_MIN_RANGE
Definition: agl_dist.c:45
static void sonar_cb(uint8_t sender_id, float distance)
Definition: agl_dist.c:66
#define AGL_DIST_SONAR_FILTER
Definition: agl_dist.c:48
#define AGL_DIST_SONAR_ID
default sonar
Definition: agl_dist.c:39
void agl_dist_init(void)
Definition: agl_dist.c:55
Bind to sonar ABI message and provide a filtered value to be used in flight plans.
float agl_dist_value
Definition: agl_dist.c:34
unsigned char uint8_t
Definition: types.h:14
float agl_dist_valid
Definition: agl_dist.c:33
float agl_dist_value_filtered
Definition: agl_dist.c:35