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

[Hector Garcia de Marina]

Hi Tilman,

I have tested this kind of sound devices in fixed-wing and I had exactly the same behavior as Chris.

I have to say that I expected really noisy signals, but after all there were not any

recognizable pattern (at least "computable" with a microcontroller in real time).

Nevertheless, I you are taking off/landing from a smooth runway (a sufficiently long), you can

still employ it for the flare during the landing.

Héctor

On Mon, Jul 2, 2012 at 3:37 PM, Chris Wozny <address@hidden> wrote:

Tilman,

We have used the Maxbotix before on a fixed-wing and had an issue with
it depending on the surface we were flying above. We were using it for
altitude (just as you are) when flying over grass and the diffraction
pattern of the ground caused the sonar module to have massive error in
its reading. When we tried it on a nice, relatively smooth surface
such as cement or concrete it worked great. I'm not sure if anyone
else has seen something like this before either, but just wanted to
let you know about an issue we had with it.

- Chris

On Mon, Jul 2, 2012 at 9:25 AM, Tilman Baumann <address@hidden> wrote:
> 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?

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--
Héctor