The following figure shows a menu to configure an external altimeter like LIDAR, Sonar, etc.

altimeter

Altimeter Configuration Menu

  • Sensor Type: the LIDAR, SONAR… configured in this menu could be used to measure the altitude of the aircraft or also to detect the distance from the vehicle to a certain object. This option allows the change between these operation modes: “AGL” for altitude measurement, and “Distance” for forward object detection.
  • Min time diff to allow preload: 
  • Distance of altimeter from G on X body axis (Body frame): parameter to indicate the distance (measured on the X axis) from the altimeter to the centre of gravity of the platform. This is used to take into account the weight of the altimeter in the aircraft control.
  • Sensor variance: It is a measure related to sensor error, whose units are squared meters. It indicates the weight that this measure will have in the sensor fusion algorithm that combines the information of different sensors to generate an altitude estimation. For example, if the altimeter installed is a LIDAR, whose precision is quite high, the value of sensor variance has to be low. Actually, the value of the sensor variance is fixed and depends on each sensor, commonly a LIDAR has an error of 0.5 meters more or less, so the variance will be 0.25. Now it depends on the application if the user wants to put this value or a higher one, that will imply that the altitude information depends not almost only on the LIDAR reading.
  • Input Variable: User chooses the variable in which the sensor data is stored to be processed by Veronte Pipe
  • Max Tilt: the altimeter is normally installed in a fixed position having a constant direction with respect to the platform. Taking a LIDAR as an example, it is used to measure altitude so it has to point towards the ground, in a direction parallel to the Z body axis. When the vehicle is not level on is X or Y axis (has a pitch or roll angle different from zero), the LIDAR will not point in a direction perpendicular to the ground, and the measure taken will not be the real altitude of the aircraft. The option of “Max Tilt” is a safe condition to discard the measure of an altimeter when its tilt angle exceeds a certain value.
  • Min and Max AGL: It is the range in which the sensor measurement is taken to be processed by Veronte Pipe.

The following figure shows a diagram with the values of maximum and minimum Above Ground Level altitude, and the maximum tilt angle.

 

fig.070-payload-limits

Payload limits

Note: in the case of a LIDAR, the configuration of the sensor is done in the menu Connections, visit section 6.2.5