mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
Christophe De Wagter
32 lines
1.4 KiB
XML
32 lines
1.4 KiB
XML
<!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>
|