range_forcefield module

This module generates a forcefield based on range sensor measurements the use of single point range sensor

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="laser_range_array|cf_deck_multi_ranger"/>
<module name="range_forcefield"/>

Module configuration options

Airframe file section

• section name: RANGE_FORCEFIELD prefix: RANGE_FORCEFIELD_
  • name INNER_LIMIT value: 1.
    Description: The inner border of the range forcefield, where the MAV will avoid the obstacle with the maximum velocity as given by MIN_VEL (in meters)
  • name OUTER_LIMIT value: 1.4
    Description: The outer border of the range forcefield, where the MAV will start avoiding with velocity determined on the range measurement (starts with MIN_VEL)
  • name MIN_VEL value: 0.0
    Description: The minimum velocity which forces the MAV out of the forcefield (in [m/s])
  • name MAX_VEL value: 0.5
    Description: The maximum velocity which forces the MAV out of the forcefield (in [m/s])

Dependencies

• laser_range_array module|cf_deck_multi_ranger

Module functions

Init Functions

These initialization functions are called once on startup.

• range_forcefield_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• range_forcefield_periodic()
  • Frequency in Hz: 10
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• range_forcefield.h

Source Files

• modules/range_forcefield/range_forcefield.c

Raw range_forcefield.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="range_forcefield" dir="range_forcefield">
  <doc>
    <description>This module generates a forcefield based on range sensor measurements the use of single point range sensor </description>

    <section name="RANGE_FORCEFIELD" prefix="RANGE_FORCEFIELD_">
      <define name="INNER_LIMIT" value="1." description="The inner border of the range forcefield, where the MAV will avoid the obstacle with the maximum velocity as given by MIN_VEL (in meters)"/>
      <define name="OUTER_LIMIT" value="1.4" description="The outer border of the range forcefield, where the MAV will start avoiding with velocity determined on the range measurement (starts with MIN_VEL)"/>
      <define name="MIN_VEL" value="0.0" description="The minimum velocity which forces the MAV out of the forcefield (in [m/s])"/>
      <define name="MAX_VEL" value="0.5" description="The maximum velocity which forces the MAV out of the forcefield (in [m/s])"/>
    </section>
  </doc>

  <settings>
    <dl_settings>
      <dl_settings NAME="Range Velocity Force Field">
        <dl_setting var="range_forcefield_param.inner_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="inner_limit" param="RANGE_FORCEFIELD_INNER_LIMIT"/>
        <dl_setting var="range_forcefield_param.outer_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="outer_limit" param="RANGE_FORCEFIELD_OUTER_LIMIT"/>
        <dl_setting var="range_forcefield_param.min_vel" min="0.0" step="0.1" max="1." module="range_forcefield/range_forcefield" shortname="min_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
        <dl_setting var="range_forcefield_param.max_vel" min="0.1" step="0.1" max="5." module="range_forcefield/range_forcefield" shortname="max_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
      </dl_settings>
    </dl_settings>
  </settings>
  
  <depends>laser_range_array|cf_deck_multi_ranger</depends>

  <header>
    <file name="range_forcefield.h"/>
  </header>
  <init fun="range_forcefield_init()"/>
  <periodic fun="range_forcefield_periodic()" freq="10"/>
  <makefile>
    <file name="range_forcefield.c"/>
  </makefile>
</module>