Add rangesensor module #2158

kirkscheper · 2017-11-02T16:10:15Z

This pull request includes several items relating to adding range sensors to MAVs:

Compatibility to read out the new ToF laser ring through UART (designed by @dewagter)
Adding laser range sensor array to gazebo models (Bottom laser range sensor is send through like a sort of sonar)
Made an module that creates a velocity forcefield based on those sensors, which can be used within guided flight.
Make SWD_NOPWR default for lisa_mxs boards
Converted all tabs in the gazebo models to double spaces
Dynamically add sensors to gazebo vehicles depending on the modules used
Added simple square environment for collision avoidance navigation testing
Added some needed math functions

This replaces #2114 due to conflicting files.

gautierhattenberger · 2017-11-02T21:45:57Z

It looks fine for me. It this still incomplete or ready to be merged ?

kirkscheper · 2017-11-02T22:12:58Z

I had an epiphany tonight to improve efficiency so will update tomorrow.

…

On Nov 2, 2017 22:45, "Gautier Hattenberger" ***@***.***> wrote: It looks fine for me. It this still incomplete or ready to be merged ? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#2158 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACtEQxdW4K7Nn4goGim30PTw-7K7U4H2ks5syjgWgaJpZM4QP8Yz> .

…add range sensors back to the ardrone model directly??

* fixed unresponsive forcefield on the range sensors

…ested out: it works!

…eric

* Tried to read out the pose of the sensors, however because of an error in gazebo it now retrieves it from the sensor name * Tried to send out the abi message with an array of values, instead of each individually, however it seems that this can not be compiled on paparazzi

…o and send values and rotation as array through abi *Resolved gazebo issue by placing the <pose> directly underneath sensor *Resolved abi issue by defining the first field as a non-pointer (like array size *Selecting sonar by placing AGL in the sensor name in the gazebo model, so it will be selected as the sonar

…nd generic forcefield generation * Gazebo now manually reads out the orientation from the ray sensors and sends that in the abi message * Range forcefield module uses the orientation to create a forcefield in any direction the ray sensor is in

…can now be defined from the airframe, for both NPS an AP *[gazebo] The pose from gazebo will now be compared with the assigned amount of sensors and orientation from the airframe file, and will give out a warning if it does not work *[mag_pitot_uart] the mag_pitot_uart only get the number and orientations given from the airframe file. Only the ID number coming from the laser ring can be the check if that is done properly

… range laser array

…esensor specific gazebo airframe file"

…n per variable

… from mag_pitot_uart and moved to a separate module

… and add forward obstacle detector

…ent to the abi bindings

gautierhattenberger · 2017-11-06T10:10:38Z

I'm not completely satisfied with the new if statement fo abi bindings in FP as it solves a particular issue. Someone may want a different specific behavior some day and we'll end up with more "options" or attributes. What do you think of the possibility to have a handler attribute similar to the settings that allows to specify a custom callback function? So if you don't want the default behavior (update the values with the last message) you can do whatever you want. The callback can be defined in the header section of the flight plan or from a module.

kirkscheper · 2017-11-06T12:30:31Z

@knmcguire This is a bit different than the original pull request. I removed the RANGE_SENSOR_ARRAY message and now have the range_forcefield bind to the OBSTACLE_DETECTION message (which now has an elevation field). This way the force field will work with any sensor that can measure distance to an obstacle and not only the range array.

The range_forcefield now also stores the nearest distance experienced in the xyz directions over time so that it could still work if you had multiple sensors pointed in the same direction (or at angles not parallel with the xyz plane. This formulation will also ensure that if you have multiple sensors in the same/similar direction that One important difference is that the resultant velocity command will never exceed the max_vel setting of the range_forcefield.

The range is also now sent periodically rather than asynchronously.

@knmcguire let me know if this is good or if you had a different plan for this.

@gautierhattenberger I implemented a handler (I hope this is what you meant). The only issue I had was adding an & in the header section. Adding it like & caused the flight_plan.h generator to fail and adding it like & worked fixed the flight_plan.h generator but broke the modules.h generator. So I ended up just using a nested if.

knmcguire · 2017-11-06T13:02:51Z

@kirkscheper Actually, what you added was exactly what I had in mind for a future pull request, so I am totally okay with it:)

either use 'vars' (auto binding and callback) or 'handler' (auto binding but custom callback and variable definition), not both at the same time

plus use the 'And' macro to hide the illegal characters

gautierhattenberger · 2017-11-06T14:09:28Z

@kirkscheper please have a look at my proposed changes in paparazzi/pull_request_add_rangesensor_module branch

I made a few changes to the ocaml part to be a bit more "ocaml-ish".

Regarding the issue with && instructions, I don't have a nice solution. You need the escape sequence to have it displayed correctly, but gen_aircraft is parsing the original file (where you may have the escape sequence) while gen_modules is parsing the expanded version in var/aircraft//flight_plan.xml which is discarding the escape characters. I cannot do anything about this as it is coming from the ocaml xml lib.
So my answer would be: don't use & :(
For simple tests, you can use the And( , ) macro as suggested in my modified FP.

* added rangesensors to gazebo model and NPS * added module to handle the range sensors * added sender IDS and added to abi messages * added abi message to flight plan guided

kirkscheper mentioned this pull request Nov 2, 2017

Adding rangesensor module #2114

Closed

kirkscheper force-pushed the pull_request_add_rangesensor_module branch from 40d4df4 to 8e768cb Compare November 2, 2017 16:16

kirkscheper added PleaseReviewAndClosePullRequest Incomplete and removed PleaseReviewAndClosePullRequest labels Nov 2, 2017

kirkscheper added PleaseReviewAndClosePullRequest and removed Incomplete labels Nov 3, 2017

kirkscheper force-pushed the pull_request_add_rangesensor_module branch from ce17480 to d99711c Compare November 3, 2017 16:36

knmcguire added 20 commits November 3, 2017 17:40

[gazebo/models] added rangesensors to gazebo model

acc72c1

[modules] added module to handle the range sensors

f9935a4

[gazebo] added rangesensor init functions to nps_gazebo

abb7d2d

[gazebo] added range modules, but gazebo is unable to find it! maybe …

f7149da

…add range sensors back to the ardrone model directly??

[modules/rangemodules + gazebo] *fixed pointer problem to range sensors

27196d4

* fixed unresponsive forcefield on the range sensors

[fix-me-style]

24a5925

[misc] removed debug messages and speed up simulation

ec3028e

[modules/range_module] fixed broken functions

d354acb

[abi] added sender IDS and added to abi messages

f5d4b8c

[flightplan] added abi message forcefield to flight plan guided and t…

b1ed7eb

…ested out: it works!

[abi] change name of sender ID

9758bec

[modules/sensors] added range sensor to mag_pitot_uart.c

6af132d

[modules/range_sensor] changed name module

f1811b5

[modules/rangesensor] also changed name within code

f72c8b0

[range_module] latest changes based on the IMAV2017

2b72b1c

[fix me style]

a4bfbfa

[nps_gazebo] select rayarrays based on their type to make it more gen…

1294984

…eric

knmcguire and others added 9 commits November 3, 2017 17:40

[range_forcefield] changed name of range_sensors to range_forcefield

f6d5958

[mag_pitot_uart] fixed some errors after testing with a lisa mxs with…

78033bb

… range laser array

[abi] changed orientation array for euler angles to floats

29b1e24

[airframe] Removed NPS build for origami pocketdrone and removed rang…

1527602

…esensor specific gazebo airframe file"

[modules/range_forcefield] removed dublicant module, added descriptio…

2a814f1

…n per variable

[modules/laser_range_array] removed read out of values of laser ring…

8890df0

… from mag_pitot_uart and moved to a separate module

update gazebo to run exactly same as reality , simpify agl definition…

5a0e89d

… and add forward obstacle detector

use if instead of ifdef

6c27116

kirkscheper force-pushed the pull_request_add_rangesensor_module branch from d99711c to 643527b Compare November 3, 2017 16:41

restructured how range data is shared and added an optional if statem…

75fc0e0

…ent to the abi bindings

kirkscheper force-pushed the pull_request_add_rangesensor_module branch from 643527b to 75fc0e0 Compare November 3, 2017 17:14

add abi handler to flight plan and update range forcefield

a82ee66

gautierhattenberger added 2 commits November 6, 2017 14:50

small changes regarding the handler generation

2cee5b8

either use 'vars' (auto binding and callback) or 'handler' (auto binding but custom callback and variable definition), not both at the same time

update flight plan accordingly to the new format

7caf13d

plus use the 'And' macro to hide the illegal characters

update comments

e691054

gautierhattenberger merged commit e84ff36 into paparazzi:master Nov 6, 2017

kirkscheper deleted the pull_request_add_rangesensor_module branch November 6, 2017 20:27

kirkscheper mentioned this pull request Nov 8, 2017

Gazebo in tudelft conf, with orange avoid example #2149

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Add rangesensor module #2158

Add rangesensor module #2158

kirkscheper commented Nov 2, 2017

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knmcguire commented Nov 6, 2017

gautierhattenberger commented Nov 6, 2017

Add rangesensor module #2158

Add rangesensor module #2158

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