Re: [Paparazzi-devel] Sonar module

[Gautier Hattenberger]

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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