Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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ahrs_infrared module

AHRS infrared.

Attitude estimation using infrared sensors detecting the horizon. For fixedwings only:

  • GPS course is used as heading.
  • ADC channels can be used for gyros.

Example for airframe file

Add to your firmware section:

1 <module name="ahrs_infrared"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

  • ahrs_infrared_periodic()
    • Frequency in Hz: 60
    • 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

Source Files

Raw ahrs_infrared.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_infrared" dir="ahrs">
<doc>
<description>
AHRS infrared.
Attitude estimation using infrared sensors detecting the horizon.
For fixedwings only:
- GPS course is used as heading.
- ADC channels can be used for gyros.
</description>
</doc>
<dep>
<depends>infrared_adc</depends>
</dep>
<header>
<file name="ahrs_infrared.h"/>
</header>
<init fun="ahrs_infrared_init()"/>
<periodic fun="ahrs_infrared_periodic()" freq="60"/>
<makefile>
<file name="ahrs_infrared.c"/>
<test>
<define name="IR_HORIZ_SENSOR_ALIGNED"/>
</test>
</makefile>
</module>