Reads out values through uart of an laser range ring (array), containing multiple ToF IR laser range modules

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Example for airframe file

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

 <module name="laser_range_array">
   <define name="LASER_RANGE_ARRAY_NUM_SENSORS" value="0" />
   <define name="LASER_RANGE_ARRAY_ORIENTATIONS" type="float[]" value="0,0" />
   <configure name="LASER_RANGE_ARRAY_PORT" value="UART2" />
   <configure name="LASER_RANGE_ARRAY_BAUD" value="38400" />
 </module>

Module configuration options

Configure Options

name: LASER_RANGE_ARRAY_PORT value: UART2
Description: select which uart it is connected to
name: LASER_RANGE_ARRAY_BAUD value: 38400
Description: set the baudrate of the uart

Define Options

name: LASER_RANGE_ARRAY_NUM_SENSORS value: 0
Description: Total amount of laser range sensors on the airframe
name: LASER_RANGE_ARRAY_ORIENTATIONS value: 0,0
Description: The orientation per laser range sensor in the order: elevation,heading. The array is built up like (elv_1, head_1, elv_2, head_2,...elv_n, head_n) with n=LASER_RANGE_ARRAY_NUM_SENSORS

Module functions

Init Functions

These initialization functions are called once on startup.

laser_range_array_init()

Event Functions

These event functions are called in each cycle of the module event loop.

laser_range_array_event()

Files

Header Files

The following headers are automatically included in modules.h

laser_range_array.h

Source Files

modules/range_finder/laser_range_array.c
pprzlink/src/pprz_transport.c

Raw laser_range_array.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="laser_range_array" dir="range_finder">
  <doc>
    <description>Reads out values through uart of an laser range ring (array), containing multiple ToF IR laser range modules</description>
    <configure name="LASER_RANGE_ARRAY_PORT" value="UART2" description="select which uart it is connected to"/>
    <configure name="LASER_RANGE_ARRAY_BAUD" value="38400" description="set the baudrate of the uart"/>
    <define name="LASER_RANGE_ARRAY_NUM_SENSORS" value="0" description="Total amount of laser range sensors on the airframe"/>
    <define name="LASER_RANGE_ARRAY_ORIENTATIONS" value="0,0" type="float[]" description="The orientation per laser range sensor in the order: elevation,heading. The array is built up like (elv_1, head_1, elv_2, head_2,...elv_n, head_n) with n=LASER_RANGE_ARRAY_NUM_SENSORS"/>
  </doc>
  <header>
    <file name="laser_range_array.h"/>
  </header>
  <init fun="laser_range_array_init()"/>
  <event fun="laser_range_array_event()"/>
  <makefile>
    <!-- Configure default UART port and baudrate -->
    <configure name="LASER_RANGE_ARRAY_PORT" default="UART5" case="upper|lower"/>
    <configure name="LASER_RANGE_ARRAY_BAUD" default="38400"/>
    
    <!-- Enable UART and set baudrate -->
    <define name="USE_$(LASER_RANGE_ARRAY_PORT_UPPER)"/>
    <define name="USE_$(LASER_RANGE_ARRAY_PORT_UPPER)_TX" value="FALSE"/>
    <define name="$(LASER_RANGE_ARRAY_PORT_UPPER)_BAUD" value="$(LASER_RANGE_ARRAY_BAUD)"/>
    <define name="LASER_RANGE_ARRAY_PORT" value="$(LASER_RANGE_ARRAY_PORT_LOWER)"/>
    
    <file name="laser_range_array.c"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
  </makefile>
  <makefile target="nps">
    <define name="NPS_SIMULATE_LASER_RANGE_ARRAY" value="1"/>
  </makefile>
</module>