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agl_dist.c
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agl_dist.c
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/*
* Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
*
* This file is part of paparazzi
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*
*/
/**
* @file modules/sonar/agl_dist.h
*
* Bind to sonar ABI message and provide a filtered value to be used in flight plans
*
*/
#include "modules/sonar/agl_dist.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
float agl_dist_valid;
float agl_dist_value;
float agl_dist_value_filtered;
/** default sonar */
#ifndef AGL_DIST_SONAR_ID
#define AGL_DIST_SONAR_ID ABI_BROADCAST
#endif
#ifndef AGL_DIST_SONAR_MAX_RANGE
#define AGL_DIST_SONAR_MAX_RANGE 5.0
#endif
#ifndef AGL_DIST_SONAR_MIN_RANGE
#define AGL_DIST_SONAR_MIN_RANGE 0.001
#endif
#ifndef AGL_DIST_SONAR_FILTER
#define AGL_DIST_SONAR_FILTER 5
#endif
abi_event sonar_ev;
static void sonar_cb(uint8_t sender_id, const float *distance);
void agl_dist_init(void) {
agl_dist_valid = FALSE;
agl_dist_value = 0.;
agl_dist_value_filtered = 0.;
// Bind to AGL message
AbiBindMsgAGL(AGL_DIST_SONAR_ID, &sonar_ev, sonar_cb);
}
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *distance) {
if (*distance < AGL_DIST_SONAR_MAX_RANGE && *distance > AGL_DIST_SONAR_MIN_RANGE) {
agl_dist_value = *distance;
agl_dist_valid = TRUE;
agl_dist_value_filtered = (AGL_DIST_SONAR_FILTER * agl_dist_value_filtered + agl_dist_value) / (AGL_DIST_SONAR_FILTER + 1);
}
else {
agl_dist_valid = FALSE;
}
}