Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Rework NXP UWB driver #21124

Merged
merged 12 commits into from
Jul 12, 2023
Merged

Rework NXP UWB driver #21124

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
12 commits
Select commit Hold shift + click to select a range
9039558
UWB driver rework that uses 2 UWB MKBoards - 1 as Controller (Initiat…
NXPBrianna Dec 28, 2022
90f043b
Merge branch 'PX4:main' into pr_nxp_rework_uwb_driver
NXPBrianna Feb 13, 2023
2af7945
Removed UWBgrid uorb message
NXPLoic Feb 14, 2023
8b34e6c
Merge branch 'PX4:main' into pr_nxp_rework_uwb_driver
NXPLoic Feb 14, 2023
7de4396
Fixed Landing_Target_Esitmator param default values having an f for f…
NXPLoic Feb 16, 2023
e9adf79
Named LTEST_SENS_ROT back to sensor_yaw.
NXPLoic Feb 16, 2023
dfc8e4f
Modified to correct axises and angles
NXPBrianna Apr 13, 2023
bb4d214
Fixed the POV of the Spherical - Kartesian conversion inside the LTE …
NXPLoic Jun 9, 2023
d73536f
Removed UWB precision landing changes from Landing Target Estimator.
NXPLoic Jun 23, 2023
91dd6bf
Update settings.json
NXPLoic Jun 23, 2023
ce5991d
Merge branch 'main' into pr_nxp_rework_uwb_driver
NXPLoic Jul 4, 2023
70c11ae
Update LandingTargetEstimator.cpp
NXPLoic Jul 5, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
4 changes: 2 additions & 2 deletions .vscode/settings.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,8 @@
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
"C_Cpp.default.cppStandard": "c++14",
"C_Cpp.default.cStandard": "c11",
"C_Cpp.formatting": "Disabled",
"C_Cpp.intelliSenseEngine": "Default",
"C_Cpp.formatting": "disabled",
"C_Cpp.intelliSenseEngine": "default",
"C_Cpp.vcpkg.enabled": false,
"C_Cpp.workspaceParsingPriority": "low",
"cmake.buildBeforeRun": true,
Expand Down
1 change: 1 addition & 0 deletions boards/nxp/fmuk66-e/default.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IRLOCK=y
CONFIG_DRIVERS_UWB_UWB_SR150=y
CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
Expand Down
2 changes: 1 addition & 1 deletion boards/nxp/fmurt1062-v1/default.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_COMMON_UWB=y
CONFIG_DRIVERS_UWB_UWB_SR150=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
Expand Down
1 change: 1 addition & 0 deletions boards/nxp/ucans32k146/default.px4board
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_DRIVERS_UWB_UWB_SR150=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_SENSORS=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
Expand Down
3 changes: 1 addition & 2 deletions msg/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,7 @@ set(msg_files
SensorSelection.msg
SensorsStatus.msg
SensorsStatusImu.msg
SensorUwb.msg
SystemPower.msg
TakeoffStatus.msg
TaskStackInfo.msg
Expand All @@ -188,8 +189,6 @@ set(msg_files
UavcanParameterValue.msg
UlogStream.msg
UlogStreamAck.msg
UwbDistance.msg
UwbGrid.msg
VehicleAcceleration.msg
VehicleAirData.msg
VehicleAngularAccelerationSetpoint.msg
Expand Down
34 changes: 34 additions & 0 deletions msg/SensorUwb.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.

uint64 timestamp # time since system start (microseconds)

uint32 sessionid # UWB SessionID
uint32 time_offset # Time between Ranging Rounds in ms
uint32 counter # Number of Ranges since last Start of Ranging
uint16 mac # MAC adress of Initiator (controller)

uint16 mac_dest # MAC adress of Responder (Controlee)
uint16 status # status feedback #
uint8 nlos # None line of site condition y/n
float32 distance # distance in m to the UWB receiver


#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
NXPLoic marked this conversation as resolved.
Show resolved Hide resolved
float32 aoa_azimuth_dev # Angle of arrival of first incomming RX msg
float32 aoa_elevation_dev # Angle of arrival of first incomming RX msg
float32 aoa_azimuth_resp # Angle of arrival of first incomming RX msg at the responder
float32 aoa_elevation_resp # Angle of arrival of first incomming RX msg at the responder

# Figure of merit for the angle measurements
uint8 aoa_azimuth_fom # AOA Azimuth FOM
uint8 aoa_elevation_fom # AOA Elevation FOM
uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM
uint8 aoa_dest_elevation_fom # AOA Elevation FOM

# Initiator physical configuration
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
# Standard configuration is Antennas facing down and azimuth aligened in forward direction
float32 offset_x # UWB initiator offset in X axis (NED drone frame)
float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
float32 offset_z # UWB initiator offset in Z axis (NED drone frame)
15 changes: 0 additions & 15 deletions msg/UwbDistance.msg
View file
Open in desktop

This file was deleted.

25 changes: 0 additions & 25 deletions msg/UwbGrid.msg
View file
Open in desktop

This file was deleted.

63 changes: 50 additions & 13 deletions src/drivers/uwb/uwb_sr150/module.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,11 @@ serial_config:
port_config_param:
name: UWB_PORT_CFG
group: UWB
default: ""
default: "TEL2"

parameters:
- group: UWB
definitions:

UWB_INIT_OFF_X:
description:
short: UWB sensor X offset in body frame
Expand All @@ -32,22 +31,60 @@ parameters:

UWB_INIT_OFF_Z:
description:
short: UWB sensor Y offset in body frame
short: UWB sensor Z offset in body frame
long: UWB sensor positioning in relation to Drone in NED. Z offset.
type: float
unit: m
decimal: 2
increment: 0.01
default: 0.00

UWB_INIT_OFF_YAW:
UWB_SENS_ROT:
description:
short: UWB sensor YAW offset in body frame
long: UWB sensor positioning in relation to Drone in NED. Yaw rotation in relation to direction of FMU.
type: float
unit: deg
decimal: 1
increment: 0.1
default: 0.00


short: UWB sensor orientation
long: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h
Default position is the antannaes downward facing, UWB board parallel with body frame.
type: enum
values:
0: ROTATION_NONE
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@bresch is there a way to re-use the rotation value definitions that already exist for other sensors?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Could we get an answer here?

1: ROTATION_YAW_45
2: ROTATION_YAW_90
3: ROTATION_YAW_135
4: ROTATION_YAW_180
5: ROTATION_YAW_225
6: ROTATION_YAW_270
7: ROTATION_YAW_315
8: ROTATION_ROLL_180
9: ROTATION_ROLL_180_YAW_45
10: ROTATION_ROLL_180_YAW_90
11: ROTATION_ROLL_180_YAW_135
12: ROTATION_PITCH_180
13: ROTATION_ROLL_180_YAW_225
14: ROTATION_ROLL_180_YAW_270
15: ROTATION_ROLL_180_YAW_315
16: ROTATION_ROLL_90
17: ROTATION_ROLL_90_YAW_45
18: ROTATION_ROLL_90_YAW_90
19: ROTATION_ROLL_90_YAW_135
20: ROTATION_ROLL_270
21: ROTATION_ROLL_270_YAW_45
22: ROTATION_ROLL_270_YAW_90
23: ROTATION_ROLL_270_YAW_135
24: ROTATION_PITCH_90
25: ROTATION_PITCH_270
26: ROTATION_PITCH_180_YAW_90
27: ROTATION_PITCH_180_YAW_270
28: ROTATION_ROLL_90_PITCH_90
29: ROTATION_ROLL_180_PITCH_90
30: ROTATION_ROLL_270_PITCH_90
31: ROTATION_ROLL_90_PITCH_180
32: ROTATION_ROLL_270_PITCH_180
33: ROTATION_ROLL_90_PITCH_270
34: ROTATION_ROLL_180_PITCH_270
35: ROTATION_ROLL_270_PITCH_270
36: ROTATION_ROLL_90_PITCH_180_YAW_90
37: ROTATION_ROLL_90_YAW_270
38: ROTATION_ROLL_90_PITCH_68_YAW_293
39: ROTATION_PITCH_315
40: ROTATION_ROLL_90_PITCH_315
default: 0