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[ardrone2] Implemented sonar

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Freek van Tienen
2014-02-26 23:14:05 +01:00
committed by Felix Ruess
parent cd0399951c
commit 6a50e314bb
3 changed files with 15 additions and 17 deletions
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conf/airframes/ardrone2_raw.xml
+5
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@@ -5,6 +5,7 @@
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/>
<define name="USE_SONAR"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
@@ -107,6 +108,10 @@
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_SENS" value="0.00034"/>
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
<define name="SONAR_VARIANCE_THRESHOLD" VALUE="2.0"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">