sonar_pwm
Driver for a PWM based sonar range sensor Reads sensor using PWM input and outputs sonar distance to object in [cm] Why PWM over ADC: One only needs to connect GND, VCC and one more signal wire, same as ADC but not the disadvantages of ADC sensors noise Sensor example: Maxbotix LV-EZ1
Name |
Value |
Description |
---|---|---|
SONAR_PWM_CHANNEL |
PWM_INPUTx |
Select PWM input channel for sensor to use e.g. PWM_INPUT1 |
Name |
Value |
Description |
---|---|---|
USE_SONAR |
TRUE |
Activate use of sonar in INS extended filter (only rotorcraft) or not if one only wants to measure distance |
SONAR_OFFSET |
0.1234 |
Sensor offset in CM, as in where one onts zero to be, default is 0 |
SONAR_SCALE |
SONAR_PWM_PERIOD |
Sensor scale |
SONAR_MIN_RANGE |
0.44 |
If defined, set limit to minimum value reported, default 0.15 |
SONAR_MAX_RANGE |
3.0 |
If defined, set limit to maximum value reported, default 6.0 |
SONAR_COMPENSATE_ROTATION |
TRUE |
Compensate AGL for body rotation, if not defined, defaults to FALSE |
SONAR_UPDATE_ON_AGL |
TRUE |
Updates the AGL value in state,if not defined, defaults to FALSE |
SONAR_PWM_PERIOD |
4096 |
period in microsec (e.g. 4096 for 12 bits sensor) |
SONAR_PWM_OFFSET |
20 |
initial offset on the raw pwm signal if needed (default: 820usec) |
SONAR_USE_PWM_FILTER |
TRUE |
Enable or disable a median filter on the sensor output values |
SONAR_MEDIAN_SIZE |
9 |
If median filter is enabled then set this option to filter the output more(or less), default is 7 |
SENSOR_SYNC_SEND_SONAR |
If defined, sends raw and scaled sonar values, useful for debugging sensor issues |
Depends
- pwm_meas
Provides
- sonar