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added outlier detector to bebop sonar and extended median filter to handle variable size filters (#1909)

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Kirk Scheper
2017-08-28 09:42:35 +02:00
committed by Gautier Hattenberger
parent cc1490d577
commit 290d47f7ca
17 changed files with 313 additions and 121 deletions
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conf/modules/lidar_lite.xml
+3
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@@ -11,6 +11,7 @@
<configure name="LIDAR_LITE_I2C_ADDR" value="0x62" description="default slave address of lidar"/>
<configure name="USE_LIDAR_LITE_AGL" value="1" description="use this lidar for AGL measurements. On by deafult"/>
<configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
<configure name="LIDAR_LITE_MEDIAN_LENGTH" value="7" description="Length of median filter for Lidar-lite measurements"/>
</doc>
<settings>
@@ -35,11 +36,13 @@
<configure name="LIDAR_LITE_I2C_ADDR" default="0xC4"/>
<configure name="USE_LIDAR_LITE_AGL" default="1"/>
<configure name="LIDAR_LITE_COMPENSATE_ROTATION" default="1"/>
<configure name="LIDAR_LITE_MEDIAN_LENGTH" default="7"/>
<define name="LIDAR_LITE_I2C_DEV" value="$(LIDAR_LITE_I2C_DEV_LOWER)"/>
<define name="USE_$(LIDAR_LITE_I2C_DEV_UPPER)"/>
<define name="LIDAR_LITE_I2C_ADDR" value="$(LIDAR_LITE_I2C_ADDR)"/>
<define name="USE_LIDAR_LITE_AGL" value="$(USE_LIDAR_LITE_AGL)"/>
<define name="LIDAR_LITE_COMPENSATE_ROTATION" value="$(LIDAR_LITE_COMPENSATE_ROTATION)"/>
<define name="LIDAR_LITE_MEDIAN_LENGTH" value="$(LIDAR_LITE_MEDIAN_LENGTH)"/>
<file name="lidar_lite.c"/>
</makefile>
<makefile target="nps">
conf/modules/px4flow_i2c.xml
+3
View File
@@ -9,6 +9,7 @@
<configure name="PX4FLOW_NOISE_STDDEV" value="1.0" description="standard deviation of the flow measurement (if known)"/>
<configure name="USE_PX4FLOW_AGL" value="1" description="update AGL measurements from onboard sonar"/>
<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
<configure name="PX4FLOW_MEDIAN_LENGTH" value="7" description="Median filter length for the px4flow measurements"/>
</doc>
<settings>
@@ -34,6 +35,7 @@
<configure name="PX4FLOW_NOISE_STDDEV" default="1.0"/>
<configure name="USE_PX4FLOW_AGL" default="1"/>
<configure name="PX4FLOW_COMPENSATE_ROTATION" default="1"/>
<configure name="PX4FLOW_MEDIAN_LENGTH" default="7"/>
<define name="PX4FLOW_I2C_DEV" value="$(PX4FLOW_I2C_DEV_LOWER)"/>
<define name="USE_$(PX4FLOW_I2C_DEV_UPPER)"/>
<define name="PX4FLOW_I2C_ADDR" value="$(PX4FLOW_I2C_ADDR)"/>
@@ -41,6 +43,7 @@
<define name="PX4FLOW_NOISE_STDDEV" value="$(PX4FLOW_NOISE_STDDEV)"/>
<define name="USE_PX4FLOW_AGL" value="$(USE_PX4FLOW_AGL)"/>
<define name="PX4FLOW_COMPENSATE_ROTATION" value="$(PX4FLOW_COMPENSATE_ROTATION)"/>
<define name="PX4FLOW_MEDIAN_LENGTH" value="$(PX4FLOW_MEDIAN_LENGTH)"/>
<file name="px4flow_i2c.c"/>
</makefile>
</module>
conf/modules/sonar_bebop.xml
+3 -1
View File
@@ -7,6 +7,7 @@
Reads an anlog sonar sensor and outputs sonar distance in [m]
</description>
<define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
<configure name="BEBOP_SONAR_BARO_THRESHOLD" value="3" description="Barometric altitude above which the sonar is not used"/>
</doc>
<header>
@@ -21,7 +22,8 @@
<makefile target="ap">
<define name="USE_SPI0" value="1"/>
<define name="USE_ADC0" value="1"/>
<configure name="BEBOP_SONAR_BARO_THRESHOLD" default="3"/>
<define name="INS_SONAR_BARO_THRESHOLD" value="$(BEBOP_SONAR_BARO_THRESHOLD)"/>
<raw>
include $(CFG_SHARED)/spi_master.makefile
</raw>