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
For fixedwing you have this link:
http://paparazzi.enac.fr/w/images/BA_FS11_Dokumentation_Drohne.pdf
Enjoy.
Walid
2012/7/2 Tilman Baumann
<address@hidden>
While I was shopping I also added a Mabotix Sonar module.
There is a module for that. But it does not look like it's going to be much usable.
It looks like the code is not taking into account that the range information is only usable at low altitudes (around seven meters).
And it only shows up in the booz domain.
I know that sonar is probably not very much used on fixed wings. But I imagine it could help landings to flare up a little before touchdown.
I suppose sensor data does not really need to be integrated into the actual altitude information but can just be used in flight plan programming.
Has anyone done that before? I seem to remember that being used in a AOA based landing pattern, which I would like to experiment with as well as soon as I have all the parts.
Of course, I still need to get a successful flight first. Weather has been very windy for weeks, it's getting quite frustrating.
But I kind of like to keep many mental balls in the air. *g*
Cheers
Tilman
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