Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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Angle of Attack sensor using PWM input

Module XML file: AOA_pwm.xml

No detailed description...

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

1 <modules>
2  <load name="AOA_pwm.xml">
3  <define name="AOA_SENS" value="(2*3.14)/AOA_PWM_PERIOD" />
4  <define name="AOA_OFFSET" value="0." />
5  <define name="AOA_ANGLE_OFFSET" value="3.14" />
6  <define name="AOA_REVERSE" value="TRUE|FALSE" />
7  <define name="AOA_PWM_PERIOD" value="4096" />
8  <define name="AOA_PWM_OFFSET" value="1" />
9  <define name="SEND_AOA" value="TRUE|FALSE" />
10  <define name="LOG_AOA" value="TRUE|FALSE" />
11  <configure name="AOA_PWM_CHANNEL" value="PWM_INPUTX" />
12  </load>
13 </modules>

Module configuration options

Configure Options

    Description: Select PWM input channel for AOA sensor

Define Options

  • name: AOA_SENS value: (2*3.14)/AOA_PWM_PERIOD
    Description: sensor sensitivity
  • name: AOA_OFFSET value: 0.
    Description: offset in radian that can be set from settings
  • name: AOA_ANGLE_OFFSET value: 3.14
    Description: global offset in radian corresponding to the sensor mounting (default: 3.14)
  • name: AOA_REVERSE value: TRUE|FALSE
    Description: set to TRUE to reverse rotation direction
  • name: AOA_PWM_PERIOD value: 4096
    Description: period in microsec (e.g. 4096 for 12 bits sensor)
  • name: AOA_PWM_OFFSET value: 1
    Description: initial offset on the raw pwm signal if needed (default: 1usec)
  • name: SEND_AOA value: TRUE|FALSE
    Description: enable telemetry report (default: TRUE)
  • name: LOG_AOA value: TRUE|FALSE
    Description: enable logging on SD card (default: FALSE)

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.

  • aoa_pwm_update()
    • Frequency in Hz: 20
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw AOA_pwm.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="AOA_pwm" dir="sensors">
<description> Angle of Attack sensor using PWM input</description>
<configure name="AOA_PWM_CHANNEL" value="PWM_INPUTX" description="Select PWM input channel for AOA sensor"/>
<define name="AOA_SENS" value="(2*3.14)/AOA_PWM_PERIOD" description="sensor sensitivity"/>
<define name="AOA_OFFSET" value="0." description="offset in radian that can be set from settings"/>
<define name="AOA_ANGLE_OFFSET" value="3.14" description="global offset in radian corresponding to the sensor mounting (default: 3.14)"/>
<define name="AOA_REVERSE" value="TRUE|FALSE" description="set to TRUE to reverse rotation direction"/>
<define name="AOA_PWM_PERIOD" value="4096" description="period in microsec (e.g. 4096 for 12 bits sensor)"/>
<define name="AOA_PWM_OFFSET" value="1" description="initial offset on the raw pwm signal if needed (default: 1usec)"/>
<define name="SEND_AOA" value="TRUE|FALSE" description="enable telemetry report (default: TRUE)"/>
<define name="LOG_AOA" value="TRUE|FALSE" description="enable logging on SD card (default: FALSE)"/>
<dl_settings NAME="AOA">
<dl_setting MAX="180" MIN="-180" STEP="0.1" VAR="aoa_pwm.offset" shortname="AOA_offset" module="modules/sensors/aoa_pwm" param="AOA_OFFSET" unit="rad" alt_unit="deg"/>
<dl_setting MAX="0.95" MIN="0" STEP="0.001" VAR="aoa_pwm.filter" shortname="AOA_filter" module="modules/sensors/aoa_pwm" param="AOA_FILTER"/>
<file name="aoa_pwm.h" />
<init fun="aoa_pwm_init()" />
<periodic fun="aoa_pwm_update()" freq="20" />
<makefile target="ap">
<file name="aoa_pwm.c" />
<define name="AOA_PWM_CHANNEL" value="$(AOA_PWM_CHANNEL)" cond="ifdef AOA_PWM_CHANNEL" />
<define name="$(AOA_PWM_CHANNEL)_TICKS_PER_USEC" value="1" />
<define name="USE_$(AOA_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_LOW" />