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Update ground detect (#3365)

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This commit is contained in:
Christophe De Wagter
2024-10-01 12:56:08 +02:00
committed by GitHub
parent 02d93d9bc9
commit 5a45a6158d
17 changed files with 219 additions and 170 deletions
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conf/modules/ground_detect.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ground_detect" dir="nav">
<doc>
<description>Ground detection module to detect ground</description>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" description="[m/s2] positive down"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" description="AGL value low enough to be used as ground detection [m]"/>
<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" description="Number of times a trigger must be valid to accept ground detection."/>
</doc>
<header>
<file name="ground_detect.h"/>
</header>
<init fun="ground_detect_init()"/>
<periodic fun="ground_detect_periodic()" freq="50"/>
<periodic fun="ground_detect_filter_accel()"/>
<makefile>
<file name="ground_detect.c"/>
<test firmware="rotorcraft">
<define name="PERIODIC_FREQUENCY" value="512"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
<define name="INDI_OUTPUTS" value="1"/>
<define name="INDI_NUM_ACT" value="1"/>
</test>
</makefile>
</module>