mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 18:28:52 +08:00
Gautier Hattenberger
57 lines
2.8 KiB
XML
57 lines
2.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="lidar_lite" dir="lidar">
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<doc>
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<description>
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Lidar-Lite v1-3 (all labels) from PulsedLight3D (now Garmin) connected over i2c bus.
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With the default settings the ranging takes ~3ms so don't poll the lidar faster than 300Hz
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(in practice lidar_lite_periodic() can run at the PERIODIC_FREQUENCY and still be OK)
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</description>
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<configure name="LIDAR_LITE_I2C_DEV" value="i2c2" description="I2C device to use for lidar"/>
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<configure name="LIDAR_LITE_I2C_ADDR" value="0x62" description="default slave address of lidar"/>
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<configure name="USE_LIDAR_LITE_AGL" value="1" description="use this lidar for AGL measurements. On by deafult"/>
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<configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
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<configure name="LIDAR_LITE_MEDIAN_LENGTH" value="7" description="Length of median filter for Lidar-lite measurements"/>
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</doc>
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<settings>
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<dl_settings NAME="Lidar lite">
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<dl_settings NAME="Lidar">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_lite.compensate_rotation" shortname="derotate_agl"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_lite.update_agl" shortname="update_agl"/>
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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>i2c</depends>
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<provides>sonar</provides>
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</dep>
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<header>
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<file name="lidar_lite.h"/>
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</header>
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<init fun="lidar_lite_init()"/>
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<periodic fun="lidar_lite_downlink()" freq="4" autorun="FALSE"/> <!-- for debug -->
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<periodic fun="lidar_lite_periodic()" freq="100"/> <!-- poll data, since we have 4 states in the state machine, divide the frequency
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by 4 to get the actual number of readings per second. For example 100Hz = 25 range readings -->
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<event fun="lidar_lite_event()"/>
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<makefile>
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<configure name="LIDAR_LITE_I2C_DEV" default="i2c1" case="lower|upper"/>
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<configure name="LIDAR_LITE_I2C_ADDR" default="0xC4"/>
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<configure name="USE_LIDAR_LITE_AGL" default="1"/>
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<configure name="LIDAR_LITE_COMPENSATE_ROTATION" default="1"/>
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<configure name="LIDAR_LITE_MEDIAN_LENGTH" default="7"/>
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<define name="LIDAR_LITE_I2C_DEV" value="$(LIDAR_LITE_I2C_DEV_LOWER)"/>
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<define name="USE_$(LIDAR_LITE_I2C_DEV_UPPER)"/>
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<define name="LIDAR_LITE_I2C_ADDR" value="$(LIDAR_LITE_I2C_ADDR)"/>
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<define name="USE_LIDAR_LITE_AGL" value="$(USE_LIDAR_LITE_AGL)"/>
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<define name="LIDAR_LITE_COMPENSATE_ROTATION" value="$(LIDAR_LITE_COMPENSATE_ROTATION)"/>
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<define name="LIDAR_LITE_MEDIAN_LENGTH" value="$(LIDAR_LITE_MEDIAN_LENGTH)"/>
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<file name="lidar_lite.c"/>
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</makefile>
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<makefile target="nps">
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<define name="USE_SONAR" value="1"/><!-- in NPS use a virtual sonar to simulate lidar measurements -->
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</makefile>
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</module>
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