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These patterns have been developped during an atmospheric science project to track clouds in real-time based on sensor data. The modifications includes: - adding adaptive nav modules (lace, rosette, trinity, spiral_3D) - new or improved meteo sensor modules (cloud sensor, meteostick) - improvements to mission interface (UPDATE message, waiting patterns, unique ID check) - compact telemetry message MINIMAL_COM to reduce bandwidth (message supported by server and logplotter) - basic cloud simulation module (circle or polygon sector) and demo flight plan See for details: Titouan Verdu, Gautier Hattenberger, Simon Lacroix. Flight patterns for clouds exploration with a fleet of UAVs. 2019 International Conference on Unmanned Aircraft Systems (ICUAS 2019), Jul 2019, Atlanta, United States. https://hal-enac.archives-ouvertes.fr/hal-02137839
38 lines
2.0 KiB
XML
38 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cloud_sensor" dir="meteo">
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<doc>
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<description>
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Get data from Cloud Sensor
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- compute Liquid Water Content (LWC) value from PAYLOAD_FLOAT data
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- get already computed LWC from PAYLOAD_COMMAND data
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</description>
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</doc>
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<settings>
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<dl_settings NAME="CloudSensor">
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<dl_settings NAME="Cloud">
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<dl_setting max="1000." min="0." step="0.1" var="cloud_sensor_calib_alpha" shortname="alpha" module="meteo/cloud_sensor"/>
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<dl_setting max="60000." min="0." step="10." var="cloud_sensor_calib_beta" shortname="beta" module="meteo/cloud_sensor"/>
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<dl_setting max="1000." min="1." step="0.1" var="cloud_sensor_channel_scale" shortname="scale" module="meteo/cloud_sensor"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="cloud_sensor_compute_coef" shortname="coef type" module="meteo/cloud_sensor" values="NONE|SINGLE|ANGSTROM"/>
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<dl_setting max="1000." min="0." step="1." var="cloud_sensor_threshold" shortname="threshold" module="meteo/cloud_sensor"/>
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<dl_setting max="1000." min="0." step="1." var="cloud_sensor_hysteresis" shortname="hysteresis" module="meteo/cloud_sensor"/>
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<dl_setting max="20000." min="0." step="0.1" var="cloud_sensor_background" shortname="background" module="meteo/cloud_sensor"/>
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<dl_setting MAX="1" MIN="1" STEP="1" VAR="cloud_sensor_compute_background" shortname="compute background" module="meteo/cloud_sensor"/>
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<dl_setting MAX="20." MIN="0." STEP="0.1" VAR="cloud_sensor_tau" shortname="tau" module="meteo/cloud_sensor" handler="update_tau"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="cloud_sensor.h"/>
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</header>
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<init fun="cloud_sensor_init()"/>
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<periodic fun="cloud_sensor_report()" freq="2." autorun="TRUE"/>
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<datalink message="PAYLOAD_COMMAND" fun="LWC_callback(buf)"/>
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<datalink message="PAYLOAD_FLOAT" fun="cloud_sensor_callback(buf)"/>
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<makefile>
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<file name="cloud_sensor.c"/>
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</makefile>
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</module>
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