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Re: [Paparazzi-devel] Sonar module

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Sonar module
Date: Fri, 16 Mar 2012 21:25:37 +0100

Jep, INS need to be rewritten...
I already changed/replaced the BOOZ2_SONAR stuff in dev two or three days ago...
And as Gautier said it makes sense to enable it either via flightplan
or via settings, so to keep it false at startup

On Fri, Mar 16, 2012 at 9:16 PM, Gautier Hattenberger
<address@hidden> wrote:
> Hi,
> 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).
> Gautier
> Le 16/03/2012 16:29, Loic Drumettaz a écrit :
>> Hi,
>> 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
>>      ins_update_on_agl=FALSE
>> #endif
>> BOOZ2_SONAR is defined nowhere and seems to be an old flag?
>> I suppose a new issue can be opened on github?
>> Regards
>> Loïc
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