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lidar_tfmini module

TFMini Lidar using a single UART for communication

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="lidar_tfmini">
2  <configure name="TFMINI_PORT" value="UART3" />
3  <configure name="TFMINI_BAUD" value="B115200" />
4  <configure name="USE_TFMINI_AGL" value="0" />
5  <configure name="TFMINI_COMPENSATE_ROTATION" value="1" />
6 </module>

Module configuration options

Configure Options

  • name: TFMINI_PORT value: UART3
    Description: UART device to use for lidar
  • name: TFMINI_BAUD value: B115200
    Description: baudrate of the TFMini UART port
  • name: USE_TFMINI_AGL value: 0
    Description: use this lidar for AGL measurements
    Description: compensate AGL measurements for body rotation

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.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw lidar_tfmini.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="lidar_tfmini" dir="lidar">
TFMini Lidar using a single UART for communication
<configure name="TFMINI_PORT" value="UART3" description="UART device to use for lidar"/>
<configure name="TFMINI_BAUD" value="B115200" description="baudrate of the TFMini UART port"/>
<configure name="USE_TFMINI_AGL" value="0" description="use this lidar for AGL measurements"/>
<configure name="TFMINI_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
<dl_settings NAME="Lidar TFMini">
<dl_settings NAME="Lidar">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.compensate_rotation" shortname="derotate_agl"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.update_agl" shortname="update_agl"/>
<file name="tfmini.h"/>
<init fun="tfmini_init()"/>
<event fun="tfmini_event()"/>
<!-- Configure default UART port and baudrate -->
<configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
<configure name="TFMINI_BAUD" default="B115200"/>
<!-- Enable UART and set baudrate -->
<define name="USE_$(TFMINI_PORT_UPPER)"/>
<define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
<define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
<configure name="USE_TFMINI_AGL" default="0"/>
<configure name="TFMINI_COMPENSATE_ROTATION" default="0"/>
<define name="USE_TFMINI_AGL" value="$(USE_TFMINI_AGL)"/>
<file name="tfmini.c"/>
<makefile target="nps">
<define name="USE_SONAR" value="1"/><!-- in NPS use a virtual sonar to simulate lidar measurements -->