Re: [Paparazzi-devel] Mabotix sonar module (on fixedwing)

[Tilman Baumann]

On 02/07/12 13:57, Walid Achour wrote:
> Hi Tilman,
> For using sonar al low altitudes, you can use the flag 
> ins_update_on_agl (==TRUE if Data fusion with sonar, ==FALSE without 
> sonar). You have three possibilities for changing the value for 
> ins_update_on_agl:
> - in ins.c :
>       if (ins.z<7m){
>        ins_update_on_agl ==TRUE;}
>        else{
>   ins_update_on_agl ==FALSE;}
> - in the flight plan:
> in takeoff and landing blocs: <set  value="TRUE" var=" 
> ins_update_on_agl" />
> and in the other blocs:  <set  value="FALSE" var=" ins_update_on_agl" />
> -by the radio commands:
> you attribute a channel for the  ins_update_on_agl parameter for 
> switching

Neat idea. Thanks, I will look at that.
> For fixedwing you have this link:
> http://paparazzi.enac.fr/w/images/BA_FS11_Dokumentation_Drohne.pdf
Ah, neat. Those where the guys I remember having read about.
There is some homework for me...
I suppose none of their code has been pulled in?