mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Kirk Scheper
52 lines
2.7 KiB
XML
52 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="px4flow_i2c" dir="optical_flow">
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<doc>
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<description>PX4FLOW optical flow sensor connected over i2c bus</description>
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<configure name="PX4FLOW_I2C_DEV" value="i2c2" description="I2C device to use for px4flow"/>
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<configure name="PX4FLOW_I2C_ADDR" value="0x84" description="slave address of px4flow"/>
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<configure name="REQUEST_INT_FRAME" value="1" description="request i2c_integral_frame, default TRUE"/>
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<configure name="PX4FLOW_NOISE_STDDEV" value="1.0" description="standard deviation of the flow measurement (if known)"/>
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<configure name="USE_PX4FLOW_AGL" value="1" description="update AGL measurements from onboard sonar"/>
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<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
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<configure name="PX4FLOW_MEDIAN_LENGTH" value="7" description="Median filter length for the px4flow measurements"/>
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</doc>
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<settings>
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<dl_settings NAME="optical flow">
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<dl_settings NAME="px4flow">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="px4flow.compensate_rotation" shortname="derotate_agl"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="px4flow.update_agl" shortname="update_agl"/>
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<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="px4flow.stddev" shortname="stddev"/>
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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="px4flow_i2c.h"/>
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</header>
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<init fun="px4flow_i2c_init()"/>
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<periodic fun="px4flow_i2c_downlink()" freq="4" autorun="FALSE"/> <!-- for debug -->
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<periodic fun="px4flow_i2c_periodic()" freq="50"/> <!-- poll px4flow for data, see https://pixhawk.org/modules/px4flow for details -->
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<makefile>
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<configure name="PX4FLOW_I2C_DEV" default="i2c1" case="lower|upper"/>
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<configure name="PX4FLOW_I2C_ADDR" default="0x84"/> <!-- 0x42 + additional zero at the end to make 8 bit address -->
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<configure name="REQUEST_INT_FRAME" default="1"/>
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<configure name="PX4FLOW_NOISE_STDDEV" default="1.0"/>
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<configure name="USE_PX4FLOW_AGL" default="1"/>
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<configure name="PX4FLOW_COMPENSATE_ROTATION" default="1"/>
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<configure name="PX4FLOW_MEDIAN_LENGTH" default="7"/>
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<define name="PX4FLOW_I2C_DEV" value="$(PX4FLOW_I2C_DEV_LOWER)"/>
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<define name="USE_$(PX4FLOW_I2C_DEV_UPPER)"/>
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<define name="PX4FLOW_I2C_ADDR" value="$(PX4FLOW_I2C_ADDR)"/>
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<define name="REQUEST_INT_FRAME" value="$(REQUEST_INT_FRAME)"/>
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<define name="PX4FLOW_NOISE_STDDEV" value="$(PX4FLOW_NOISE_STDDEV)"/>
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<define name="USE_PX4FLOW_AGL" value="$(USE_PX4FLOW_AGL)"/>
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<define name="PX4FLOW_COMPENSATE_ROTATION" value="$(PX4FLOW_COMPENSATE_ROTATION)"/>
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<define name="PX4FLOW_MEDIAN_LENGTH" value="$(PX4FLOW_MEDIAN_LENGTH)"/>
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<file name="px4flow_i2c.c"/>
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</makefile>
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</module>
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