Re: [Paparazzi-devel] Unknown function

[Pascal Brisset]

Daniel Morgan wrote:
> IR_TopOfIr in the infared.c file?
No, IR_TopOfIr should be in your airframe file (the IR_ prefix comes 
from the header of the section):

   <section name="INFRARED" prefix="IR_"> 
       <linear name="TopOfIr" arity="1" coeff1="-1"/>

The generated macro appears in the airframe.h file (under var/NameOfTheAC)

> ... Does anyone know what this does?
It computes a normalized vertical infrared value from the ADC value 
(IR_TOP channel). The value must be positive when the plane is flat (hot 
ground, cold sky).

> I am trying to find it but it does not show up anywhere when i grep 
> it. Also if anyone would like to help give me a better idea of how the 
> ir sensors data is translated into angle
estimator.c:354  : estimator_phi  = atan2(tmp_ir_roll, tmp_ir_top) - 
ir_roll_neutral;

--Pascal
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