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[Paparazzi-devel] Low IR contrast (

From: Paul Cox
Subject: [Paparazzi-devel] Low IR contrast ( )
Date: Sun, 13 Feb 2011 21:24:47 +0100


In my git branch I have added code to the fixedwing firmware to detect low (vertical) IR contrast. Below a certain threshold (IR_CONTRAST_THRESHOLD_LOW), IR.bogus becomes TRUE and the autopilot uses fixed predefined commands (zero out controls and coast until out of the clouds). Once the contrast climbs back up to another threshold (IR_CONTRAST_THRESHOLD_HIGH), normal operation resumes.  Before this gets merged, my question to the group is what default contrast levels do you feel would be  appropriate based on your various experiences? 

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