Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
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sonar_vl53l1x module

VL53L1X laser ranger AGL driver

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="sonar_vl53l1x">
2  <define name="SONAR_VL53L1X_I2C_ADDR" value="0x52" />
3  <define name="SONAR_VL53L1X_OFFSET" value="0" />
4  <define name="SONAR_VL53L1X_TIMINGBUDGET_MS" value="100" />
5  <define name="SONAR_VL53L1X_INTERMEASUREMENT_MS" value="100" />
6  <define name="SONAR_VL53L1X_DISTANCEMODE" value="2" />
7  <define name="USE_SONAR" value="" />
8  <configure name="SONAR_VL53L1X_I2C_DEV" value="i2c1" />
9 </module>

Module configuration options

Configure Options

  • name: SONAR_VL53L1X_I2C_DEV value: i2c1
    Description: I2C device to use for the VL53L1X sensor

Define Options

  • name: SONAR_VL53L1X_I2C_ADDR value: 0x52
    Description: I2C address
  • name: SONAR_VL53L1X_OFFSET value: 0
    Description: sensor offset in mm - default is 0
  • name: SONAR_VL53L1X_TIMINGBUDGET_MS value: 100
    Description: Timing budget per measurement
  • name: SONAR_VL53L1X_INTERMEASUREMENT_MS value: 100
    Description: Time between measurements
  • name: SONAR_VL53L1X_DISTANCEMODE value: 2
    Description: Sensor distance mode
  • name: USE_SONAR value:
    Description: activate use of sonar in INS extended filter (only rotorcraft)

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.

  • sonar_vl53l1x_read()
    • Frequency in Hz: 50.
    • 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 sonar_vl53l1x.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="sonar_vl53l1x" dir="sonar">
<doc>
<description>
VL53L1X laser ranger AGL driver
</description>
<configure name="SONAR_VL53L1X_I2C_DEV" value="i2c1" description="I2C device to use for the VL53L1X sensor"/>
<define name="SONAR_VL53L1X_I2C_ADDR" value="0x52" description="I2C address"/>
<define name="SONAR_VL53L1X_OFFSET" value="0" description="sensor offset in mm - default is 0"/>
<define name="SONAR_VL53L1X_TIMINGBUDGET_MS" value="100" description="Timing budget per measurement"/>
<define name="SONAR_VL53L1X_INTERMEASUREMENT_MS" value="100" description="Time between measurements"/>
<define name="SONAR_VL53L1X_DISTANCEMODE" value="2" description="Sensor distance mode"/>
<define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="sonar_vl53l1x">
<dl_setting var="sonar_vl53l1x.offset_mm" min="-1000" step="1" max="1000" shortname="offset_mm"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="sonar_vl53l1x.h"/>
</header>
<init fun="sonar_vl53l1x_init()"/>
<periodic fun="sonar_vl53l1x_read()" freq="50."/>
<event fun="sonar_vl53l1x_event()"/>
<makefile target="ap|sim">
<file name="sonar_vl53l1x.c"/>
</makefile>
<makefile target="ap">
<configure name="SONAR_VL53L1X_I2C_DEV" default="i2c1" case="lower|upper"/>
<define name="SONAR_VL53L1X_I2C_DEV" value="$(SONAR_VL53L1X_I2C_DEV_LOWER)"/>
<define name="USE_$(SONAR_VL53L1X_I2C_DEV_UPPER)"/>
<file name="vl53l1_platform.c" dir="peripherals"/>
<file name="vl53l1x_api.c" dir="peripherals"/>
<file name="vl53l1x_nonblocking.c" dir="peripherals"/>
</makefile>
</module>