mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
41 lines
2.2 KiB
XML
41 lines
2.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="range_forcefield" dir="range_forcefield">
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<doc>
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<description>This module generates a forcefield based on range sensor measurements the use of single point range sensor </description>
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<section name="RANGE_FORCEFIELD" prefix="RANGE_FORCEFIELD_">
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<define name="INNER_LIMIT" value="1." description="The inner border of the range forcefield, where the MAV will avoid the obstacle with the maximum velocity as given by MIN_VEL (in meters)"/>
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<define name="OUTER_LIMIT" value="1.4" description="The outer border of the range forcefield, where the MAV will start avoiding with velocity determined on the range measurement (starts with MIN_VEL)"/>
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<define name="MIN_VEL" value="0.0" description="The minimum velocity which forces the MAV out of the forcefield (in [m/s])"/>
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<define name="MAX_VEL" value="0.5" description="The maximum velocity which forces the MAV out of the forcefield (in [m/s])"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Range Velocity Force Field">
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<dl_setting var="range_forcefield_param.inner_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="inner_limit" param="RANGE_FORCEFIELD_INNER_LIMIT"/>
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<dl_setting var="range_forcefield_param.outer_limit" min="0.5" step="0.1" max="3." module="range_forcefield/range_forcefield" shortname="outer_limit" param="RANGE_FORCEFIELD_OUTER_LIMIT"/>
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<dl_setting var="range_forcefield_param.min_vel" min="0.0" step="0.1" max="1." module="range_forcefield/range_forcefield" shortname="min_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
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<dl_setting var="range_forcefield_param.max_vel" min="0.1" step="0.1" max="5." module="range_forcefield/range_forcefield" shortname="max_vel" param="RANGE_FORCEFIELD_MIN_VEL"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>laser_range_array|cf_deck_multi_ranger</depends>
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</dep>
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<header>
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<file name="range_forcefield.h"/>
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</header>
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<init fun="range_forcefield_init()"/>
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<periodic fun="range_forcefield_periodic()" freq="10"/>
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<makefile>
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<file name="range_forcefield.c"/>
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<test>
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</test>
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</makefile>
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</module>
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