mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
47 lines
2.7 KiB
XML
47 lines
2.7 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="sonar_pwm" dir="sonar" task="sensors">
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<doc>
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<description>
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Driver for a PWM based sonar range sensor
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Reads sensor using PWM input and outputs sonar distance to object in [cm]
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Why PWM over ADC:
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One only needs to connect GND, VCC and one more signal wire, same as ADC but not the disadvantages of ADC sensors noise
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Sensor example: Maxbotix LV-EZ1
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</description>
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<configure name="SONAR_PWM_CHANNEL" value="PWM_INPUTx" description="Select PWM input channel for sensor to use e.g. PWM_INPUT1"/>
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<define name="USE_SONAR" value="TRUE" description="Activate use of sonar in INS extended filter (only rotorcraft) or not if one only wants to measure distance"/>
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<define name="SONAR_OFFSET" value="0.1234" description="Sensor offset in CM, as in where one onts zero to be, default is 0"/>
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<define name="SONAR_SCALE" value="SONAR_PWM_PERIOD" description="Sensor scale"/>
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<define name="SONAR_MIN_RANGE" value="0.44" unit="m" description="If defined, set limit to minimum value reported, default 0.15"/>
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<define name="SONAR_MAX_RANGE" value="3.0" unit="m" description="If defined, set limit to maximum value reported, default 6.0"/>
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<define name="SONAR_COMPENSATE_ROTATION" value="TRUE" description="Compensate AGL for body rotation, if not defined, defaults to FALSE"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE" description="Updates the AGL value in state,if not defined, defaults to FALSE"/>
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<define name="SONAR_PWM_PERIOD" value="4096" description="period in microsec (e.g. 4096 for 12 bits sensor)"/>
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<define name="SONAR_PWM_OFFSET" value="20" description="initial offset on the raw pwm signal if needed (default: 820usec)"/>
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<define name="SONAR_USE_PWM_FILTER" value="TRUE" description="Enable or disable a median filter on the sensor output values"/>
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<define name="SONAR_MEDIAN_SIZE" value="9" description="If median filter is enabled then set this option to filter the output more(or less), default is 7"/>
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<define name="SENSOR_SYNC_SEND_SONAR" description="If defined, sends raw and scaled sonar values, useful for debugging sensor issues"/>
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</doc>
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<dep>
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<depends>pwm_meas</depends>
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<provides>sonar</provides>
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</dep>
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<header>
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<file name="sonar_pwm.h" />
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</header>
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<init fun="sonar_pwm_init()" />
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<periodic fun="sonar_pwm_read()" freq="20" />
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<makefile target="ap">
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<file name="sonar_pwm.c" />
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<define name="SONAR_PWM_CHANNEL" value="$(SONAR_PWM_CHANNEL)" cond="ifdef SONAR_PWM_CHANNEL" />
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<define name="$(SONAR_PWM_CHANNEL)_TICKS_PER_USEC" value="1" />
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<define name="USE_$(SONAR_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_LOW" />
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</makefile>
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</module>
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