Lidar-Lite v1 module #1926
Lidar-Lite v1 module #1926
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| <file name="lidar_lite.h"/> | ||
| </header> | ||
| <init fun="lidar_lite_init()"/> | ||
| <periodic fun="lidar_lite_downlink()" freq="10"/> <!-- for debug --> |
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I suggest to add autorun="FALSE" so that debug message sending is only activated on demand
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Good point, done. How would you activate it then?
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a setting will appear in the "modules" settings tab in the GCS (the last tab in settings).
| lidar.distance = ((float)lidar.distance_raw)/100.0; | ||
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| // send message | ||
| AbiSendMsgAGL(AGL_LIDAR_LITE_ID, lidar.distance); |
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I suggest to do something like https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/range_finder/teraranger_one.c#L127 in case the lidar is not used for AGL measurement (can still be activated by default)
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Hmm, I am not a big fan of even more ifdef directives. I ll add a variable to switch it on/off so it can be controlled remotely (and not always enabled).
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that works as well with a variable
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| <!DOCTYPE module SYSTEM "module.dtd"> | |||
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| <module name="lidar_lite" dir="lidar"> | |||
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The teraranger range finder have be placed in a folder range_finder. There is also a sonar folder. We should probably decide if we agree on a common folder for this type of sensors.
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IMHO it makes sense to group the sensors based on their categories - i.e. lidars will be in lidar folder, sonars in sonar folder. If terraranger is a lidar then probably lidars (or lidar) folder would be logical?
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The teraranger is not using a laser source, but still based on light (http://www.teraranger.com/technology/). Can we still call that a lidar ?
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Hmm, I guess there will never be a good category for all sensors:-/ Personally I would be OK with leaving terranger in a separate folder, since it is rather unique. Technically it is not a lidar since it doesn't use laser (https://en.wikipedia.org/wiki/Lidar). What is your preference?
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Keep things like they are for now.
| @@ -111,6 +111,10 @@ | |||
| #define AGL_TERARANGER_ONE_ID 5 | |||
| #endif | |||
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| #ifndef AGL_LIDAR_LITE_ID | |||
| #define AGL_LIDAR_LITE_ID 5 | |||
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Previously it failed because of wrong pprzlink commit, now it should be fixed. |
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@gautierhattenberger does it look good as is? |
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A little closer to "the other" opensource AP naming maybe welcomed. IMHO it should not be the technology used but the function of a sensor, so rangefinder as base, where we can have lidar, sonar, IR and whatnot based sensors. |
Lidar module version 1 (silver label)
https://github.com/pulsedlight3d