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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
NoahWe
219363e102
* changes to ground detect and hx711 * keep reverse thrust even if ground_detect cuts out e.g. during tip over * force sensor struct * update pprzlink
48 lines
2.3 KiB
XML
48 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ground_detect" dir="nav">
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<doc>
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<description>
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Ground detection module to detect ground.
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</description>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
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<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" description="[m/s2] positive down"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" description="AGL value low enough to be used as ground detection [m]"/>
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<define name="GROUND_DETECT_USE_FORCE_SENSOR" value="0" description="Use FORCE_SENSOR ABI for ground detection"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_THRESHOLD" value="100000" description="Threshold on filtered force sensor value to detect ground"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE" value="3" description="Median filter size for force sensor processing"/>
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<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" description="Number of times a trigger must be valid to accept ground detection."/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="Ground Detect">
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<dl_setting var="reverse_th_level" min="-9600" max="0" step="1" shortname="Reverse thrust level"/>
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<dl_setting var="set_offset_sensors" min="0" max="1" step="1" values="FALSE|TRUE" type="fun" handler="set_offset_sensors" module="modules/nav/ground_detect"/>
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<dl_setting var="force_sensor_ground_threshold" min="-1000000" max="1000000" step="1000" shortname="ground_threshold"/>
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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="ground_detect.h"/>
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</header>
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<init fun="ground_detect_init()"/>
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<periodic fun="ground_detect_periodic()" freq="50"/>
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<periodic fun="ground_detect_filter_accel()"/>
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<makefile>
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<file name="ground_detect.c"/>
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<test firmware="rotorcraft">
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="1"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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<define name="INDI_OUTPUTS" value="1"/>
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<define name="INDI_NUM_ACT" value="1"/>
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</test>
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</makefile>
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</module>
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