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Re: [Paparazzi-devel] Sonar module

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Sonar module
Date: Fri, 16 Mar 2012 21:16:40 +0100
User-agent: Mozilla/5.0 (X11; Linux i686; rv:10.0.2) Gecko/20120216 Thunderbird/10.0.2


The flag BOOZ2_SONAR is the previous name USE_SONAR (set in the module). It should have been changed. I haven't used this module for 2 years, but if I recall correctly, the variable ins_update_on_agl was set by some setting (or the flight plan). You can open an issue on Github as a reminder. But in fact is the whole ins that should be rewrite with a proper integration of sensors (including sonar).


Le 16/03/2012 16:29, Loic Drumettaz a écrit :

I finally managed to update altitude measurement with the sonar
module. There was several issues, found first with adc_generic module.
- ADC1 is used on LISA M to bind the spektrum receiver, so I couldn't
use it together with the receiver
- ADC2 never sent any value, maybe this is the one which is used to
measure supply voltage??
- ADC3 worked with index 3:<configure name="ADC_CHANNEL_GENERIC1" value="3"/>

With this module, I was able to see the raw value from the sonar with
the telemetry.  So, i tried to do the same with the sonar module.
I added DOWNLINK_SEND_BOOZ2_SONAR in the read function of
sonar_maxbotix.c (I used the old telemetry message BOOZ2_SONAR so it's
good to keep it for debugging ;)). It showed that the sonar module was
working fine as the value sonar_meas was updated.

So the problem was in ins.c, in the function ins_update_sonar. ins_qfe
wasn't updated (I also added ins_qfe to BOOZ2_SONAR). It turned out
that the boolean ins_update_on_agl was  FALSE. So i added:
ins_update_on_agl=TRUE in the init function of sonar_maxbotix.c

I'm also suprised by line 110:
#ifdef BOOZ2_SONAR
BOOZ2_SONAR is defined nowhere and seems to be an old flag?

I suppose a new issue can be opened on github?


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