Sonar/Baro Transition

At the moment the Sonar is used until circa 5.6 meters. After thtat Baro gets in.

To find the relative code follow this:

In system.pde you have:

sonar_threshold = AP_RangeFinder_down.max_distance * 0.8;
max_distance is defined in the Rangefinder library (eg if you have MXBitx XL: AP_RangeFinder_MaxsonarXL.cpp) and for the XL EZ4 is 700 (in cm.).
In sensors.pde you have the test logic to see if sonar value is good or not:
If( AP_RangeFinder_down.distance > sonar_threshold ) {
sonar_status = SONAR_STATUS_BAD;
...
}
And finally in the main ArdupiratesNG.pde code you find the logic to decide whether to use sonar or baro starting with this line :
if (AP_mode == AP_ALTITUDE_HOLD || AP_mode == AP_ALT_GPS_HOLD)
...

Hope this helps.

Emile

emile March 21, 2011 at 8:42am
At the moment the Sonar is used until circa 5.6 meters. After thtat Baro gets in.

To find the relative code follow this:

In system.pde you have:
1. sonar_threshold = AP_RangeFinder_down.max_distance * 0.8;
  max_distance is defined in the Rangefinder library (eg if you have MXBitx XL: AP_RangeFinder_MaxsonarXL.cpp) and for the XL EZ4 is 700 (in cm.).
2. In sensors.pde you have the test logic to see if sonar value is good or not:
  If( AP_RangeFinder_down.distance > sonar_threshold ) {
  sonar_status = SONAR_STATUS_BAD;
  ...
  }
3. And finally in the main ArdupiratesNG.pde code you find the logic to decide whether to use sonar or baro starting with this line :
  if (AP_mode == AP_ALTITUDE_HOLD || AP_mode == AP_ALT_GPS_HOLD)
  ...
Hope this helps.

Emile
Robert March 18, 2011 at 7:06am

Anyone have any ideas about this? Thanks!

**I am shamelessly bumping my own thread, since I can't see it on the regular forums anymore...I think it got pushed back to the second page, but isn't displaying.

This reply was deleted.

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