Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages

Multi-ranger deck from Bitcraze for Crazyflie drones

No detailed description...

Example for airframe file

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

1 <module name="cf_deck_multi_ranger">
2  <configure name="MULTI_RANGER_I2C_DEV" value="i2c1" />
3 </module>

Module configuration options

Configure Options

  • name: MULTI_RANGER_I2C_DEV value: i2c1
    Description: I2C device to use for the multi_ranger deck

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Periodic Functions

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

  • multi_ranger_periodic()
    • Frequency in Hz: 50.0
    • Autorun: TRUE
      Periodic function automatically starts after init.
  • multi_ranger_report()
    • Frequency in Hz: 5.0
    • Autorun: TRUE
      Periodic function automatically starts after init.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw cf_deck_multi_ranger.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="cf_deck_multi_ranger" dir="range_finder">
Multi-ranger deck from Bitcraze for Crazyflie drones
<configure name="MULTI_RANGER_I2C_DEV" value="i2c1" description="I2C device to use for the multi_ranger deck"/>
<file name="cf_deck_multi_ranger.h"/>
<init fun="multi_ranger_init()"/>
<periodic fun="multi_ranger_periodic()" freq="50.0" autorun="TRUE"/>
<periodic fun="multi_ranger_report()" freq="5.0" autorun="TRUE"/>
<event fun="multi_ranger_event()"/>
<makefile target="ap">
<configure name="MULTI_RANGER_I2C_DEV" default="i2c1" case="lower|upper"/>
<define name="MULTI_RANGER_I2C_DEV" value="$(MULTI_RANGER_I2C_DEV_LOWER)"/>
<define name="USE_$(MULTI_RANGER_I2C_DEV_UPPER)"/>
<define name="VL53L1X_AUTO_INCR_ADDR"/>
<file name="cf_deck_multi_ranger.c"/>
<file name="pca95xx.c" dir="peripherals"/>
<file name="vl53l1_platform.c" dir="peripherals"/>
<file name="vl53l1x_api.c" dir="peripherals"/>
<file name="vl53l1x_nonblocking.c" dir="peripherals"/>