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AP_Beacon: transform Marvelmind ENU to ArduPilot NED coordinates 

Cache beacon positions to speed-up distance calculations
Only pass data to EKF after both hedgehog and beacon positions are known
Add license and credit Marvelmind
Re-order code around to minimize diff with upstream marvelmind code
Integrated review requests
This commit is contained in:
Karthik Desai 2017-05-08 18:10:01 +02:00 committed by Randy Mackay
parent 43f22cf502
commit 677aa88e33
2 changed files with 266 additions and 187 deletions
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332
libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
View File

@ -1,7 +1,21 @@
/*
* AP_Beacon_Marvelmind.cpp
*
* Created on: 21.03.2017
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Original C Code by Marvelmind (https://bitbucket.org/marvelmind_robotics/)
Adapted into Ardupilot by Karthik Desai, Amilcar Lucas
April 2017
*/
#include <AP_HAL/AP_HAL.h>
@ -17,6 +31,7 @@ AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
hedge = new MarvelmindHedge();
last_update_ms = 0;
if (hedge) {
create_marvelmind_hedge();
parse_state = RECV_HDR; // current state of receive data
@ -29,81 +44,28 @@ AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager
}
}
bool AP_Beacon_Marvelmind::get_or_alloc_beacon(struct StationaryBeaconPosition &b, uint8_t address)
//////////////////////////////////////////////////////////////////////////////
// Calculate Modbus CRC16 for array of bytes
// buf: input buffer
// len: size of buffer
// returncode: CRC value
//////////////////////////////////////////////////////////////////////////////
uint16_t AP_Beacon_Marvelmind::calc_crc_modbus(uint8_t *buf, uint16_t len)
{
const uint8_t n_used = hedge->positions_beacons.num_beacons;
if (n_used != 0) {
for (uint8_t i = 0; i < n_used; i++) {
if (hedge->positions_beacons.beacons[i].address == address) {
b = hedge->positions_beacons.beacons[i];
return true;
uint16_t crc = 0xFFFF;
for (uint16_t pos = 0; pos < len; pos++) {
crc ^= (uint16_t) buf[pos]; // XOR byte into least sig. byte of crc
for (uint8_t i = 8; i != 0; i--) { // Loop over each bit
if ((crc & 0x0001) != 0) { // If the LSB is set
crc >>= 1; // Shift right and XOR 0xA001
crc ^= 0xA001;
} else {
// Else LSB is not set
crc >>= 1; // Just shift right
}
}
}
if (n_used >= (AP_BEACON_MARVELMIND_MAX_STATIONARY_BEACONS - 1)) {
return false;
}
hedge->positions_beacons.num_beacons = (n_used + 1);
b = hedge->positions_beacons.beacons[n_used];
return true;
}
void AP_Beacon_Marvelmind::process_beacons_positions_datagram(struct StationaryBeaconPosition &b)
{
const uint8_t n = input_buffer[5]; // number of beacons in packet
if ((1 + n * 8) != input_buffer[4]) {
return; // incorrect size
}
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 8;
const uint8_t address = input_buffer[ofs];
const int16_t x = input_buffer[ofs + 1]
| (((uint16_t) input_buffer[ofs + 2]) << 8);
const int16_t y = input_buffer[ofs + 3]
| (((uint16_t) input_buffer[ofs + 4]) << 8);
const int16_t z = input_buffer[ofs + 5]
| (((uint16_t) input_buffer[ofs + 6]) << 8);
if (get_or_alloc_beacon(b, address)) {
b.address = address;
b.x = x * 10; // millimeters
b.y = y * 10; // millimeters
b.z = z * 10; // millimeters
b.high_resolution = false;
hedge->positions_beacons.updated = true;
}
}
}
void AP_Beacon_Marvelmind::process_beacons_positions_highres_datagram(struct StationaryBeaconPosition &b)
{
const uint8_t n = input_buffer[5]; // number of beacons in packet
if ((1 + n * 14) != input_buffer[4]) {
return; // incorrect size
}
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 14;
const uint8_t address = input_buffer[ofs];
const int32_t x = input_buffer[ofs + 1]
| (((uint32_t) input_buffer[ofs + 2]) << 8)
| (((uint32_t) input_buffer[ofs + 3]) << 16)
| (((uint32_t) input_buffer[ofs + 4]) << 24);
const int32_t y = input_buffer[ofs + 5]
| (((uint32_t) input_buffer[ofs + 6]) << 8)
| (((uint32_t) input_buffer[ofs + 7]) << 16)
| (((uint32_t) input_buffer[ofs + 8]) << 24);
const int32_t z = input_buffer[ofs + 9]
| (((uint32_t) input_buffer[ofs + 10]) << 8)
| (((uint32_t) input_buffer[ofs + 11]) << 16)
| (((uint32_t) input_buffer[ofs + 12]) << 24);
if (get_or_alloc_beacon(b, address)) {
b.address = address;
b.x = x;
b.y = y;
b.z = z;
b.high_resolution = true;
hedge->positions_beacons.updated = true;
}
}
return crc;
}
uint8_t AP_Beacon_Marvelmind::mark_position_ready()
@ -124,7 +86,7 @@ uint8_t AP_Beacon_Marvelmind::mark_position_ready()
return ind_cur;
}
void AP_Beacon_Marvelmind::process_position_datagram(struct PositionValue &p)
void AP_Beacon_Marvelmind::process_position_datagram(AP_Beacon_Marvelmind::PositionValue &p)
{
uint8_t ind = hedge->_last_values_next;
hedge->position_buffer[ind].address = input_buffer[16];
@ -133,17 +95,17 @@ void AP_Beacon_Marvelmind::process_position_datagram(struct PositionValue &p)
| (((uint32_t) input_buffer[7]) << 16)
| (((uint32_t) input_buffer[8]) << 24);
const int16_t vx = input_buffer[9] | (((uint16_t) input_buffer[10]) << 8);
hedge->position_buffer[ind].x = vx * 10; // millimeters
hedge->position_buffer[ind].x = vx * 10; // centimeters -> millimeters
const int16_t vy = input_buffer[11] | (((uint16_t) input_buffer[12]) << 8);
hedge->position_buffer[ind].y = vy * 10; // millimeters
hedge->position_buffer[ind].y = vy * 10; // centimeters -> millimeters
const int16_t vz = input_buffer[13] | (((uint16_t) input_buffer[14]) << 8);
hedge->position_buffer[ind].z = vz * 10; // millimeters
hedge->position_buffer[ind].z = vz * 10; // centimeters -> millimeters
hedge->position_buffer[ind].high_resolution = false;
ind = mark_position_ready();
p = hedge->position_buffer[ind];
}
void AP_Beacon_Marvelmind::process_position_highres_datagram(struct PositionValue &p)
void AP_Beacon_Marvelmind::process_position_highres_datagram(AP_Beacon_Marvelmind::PositionValue &p)
{
uint8_t ind = hedge->_last_values_next;
hedge->position_buffer[ind].address = input_buffer[22];
@ -168,58 +130,83 @@ void AP_Beacon_Marvelmind::process_position_highres_datagram(struct PositionValu
p = hedge->position_buffer[ind];
}
uint16_t AP_Beacon_Marvelmind::calc_crc_modbus(uint8_t *buf, uint16_t len)
AP_Beacon_Marvelmind::StationaryBeaconPosition* AP_Beacon_Marvelmind::get_or_alloc_beacon(uint8_t address)
{
uint16_t crc = 0xFFFF;
for (uint16_t pos = 0; pos < len; pos++) {
crc ^= (uint16_t) buf[pos]; // XOR byte into least sig. byte of crc
for (uint8_t i = 8; i != 0; i--) { // Loop over each bit
if ((crc & 0x0001) != 0) { // If the LSB is set
crc >>= 1; // Shift right and XOR 0xA001
crc ^= 0xA001;
} else {
// Else LSB is not set
crc >>= 1; // Just shift right
const uint8_t n_used = hedge->positions_beacons.num_beacons;
if (n_used != 0) {
for (uint8_t i = 0; i < n_used; i++) {
if (hedge->positions_beacons.beacons[i].address == address) {
return &hedge->positions_beacons.beacons[i];
}
}
}
return crc;
if (n_used >= AP_BEACON_MAX_BEACONS) {
return nullptr;
}
hedge->positions_beacons.num_beacons = (n_used + 1);
return &hedge->positions_beacons.beacons[n_used];
}
void AP_Beacon_Marvelmind::create_marvelmind_hedge()
void AP_Beacon_Marvelmind::process_beacons_positions_datagram()
{
hedge->max_buffered_positions = 3;
hedge->position_buffer = nullptr;
hedge->verbose = false;
hedge->receive_data_callback = nullptr;
hedge->_last_values_count = 0;
hedge->_last_values_next = 0;
hedge->_have_new_values = false;
hedge->terminationRequired = false;
const uint8_t n = input_buffer[5]; // number of beacons in packet
StationaryBeaconPosition *stationary_beacon;
if ((1 + n * 8) != input_buffer[4]) {
return; // incorrect size
}
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 8;
const uint8_t address = input_buffer[ofs];
const int16_t x = input_buffer[ofs + 1]
| (((uint16_t) input_buffer[ofs + 2]) << 8);
const int16_t y = input_buffer[ofs + 3]
| (((uint16_t) input_buffer[ofs + 4]) << 8);
const int16_t z = input_buffer[ofs + 5]
| (((uint16_t) input_buffer[ofs + 6]) << 8);
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x * 10; // centimeters -> millimeters
stationary_beacon->y = y * 10; // centimeters -> millimeters
stationary_beacon->z = z * 10; // centimeters -> millimeters
stationary_beacon->high_resolution = false;
hedge->positions_beacons.updated = true;
}
}
}
bool AP_Beacon_Marvelmind::healthy()
void AP_Beacon_Marvelmind::process_beacons_positions_highres_datagram()
{
// healthy if we have parsed a message within the past 300ms
return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
}
void AP_Beacon_Marvelmind::start_marvelmind_hedge()
{
hedge->position_buffer = (PositionValue*) malloc(sizeof(struct PositionValue) * hedge->max_buffered_positions);
if (hedge->position_buffer == nullptr) {
if (hedge->verbose) {
hal.console->printf("MarvelMind: Not enough memory");
const uint8_t n = input_buffer[5]; // number of beacons in packet
StationaryBeaconPosition *stationary_beacon;
if ((1 + n * 14) != input_buffer[4]) {
return; // incorrect size
}
hedge->terminationRequired = true;
return;
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 14;
const uint8_t address = input_buffer[ofs];
const int32_t x = input_buffer[ofs + 1]
| (((uint32_t) input_buffer[ofs + 2]) << 8)
| (((uint32_t) input_buffer[ofs + 3]) << 16)
| (((uint32_t) input_buffer[ofs + 4]) << 24);
const int32_t y = input_buffer[ofs + 5]
| (((uint32_t) input_buffer[ofs + 6]) << 8)
| (((uint32_t) input_buffer[ofs + 7]) << 16)
| (((uint32_t) input_buffer[ofs + 8]) << 24);
const int32_t z = input_buffer[ofs + 9]
| (((uint32_t) input_buffer[ofs + 10]) << 8)
| (((uint32_t) input_buffer[ofs + 11]) << 16)
| (((uint32_t) input_buffer[ofs + 12]) << 24);
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x; // millimeters
stationary_beacon->y = y; // millimeters
stationary_beacon->z = z; // millimeters
stationary_beacon->high_resolution = true;
hedge->positions_beacons.updated = true;
}
for (uint8_t i = 0; i < hedge->max_buffered_positions; i++) {
hedge->position_buffer[i].ready = false;
hedge->position_buffer[i].processed = false;
}
hedge->positions_beacons.num_beacons = 0;
hedge->positions_beacons.updated = false;
}
void AP_Beacon_Marvelmind::update(void)
@ -295,35 +282,36 @@ void AP_Beacon_Marvelmind::update(void)
if (block_crc == 0) {
switch (data_id) {
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID:
{
// add to position_buffer
process_position_datagram(cur_position);
vehicle_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID:
{
process_beacons_positions_datagram(cur_beacon);
Vector3f pos(cur_beacon.x / 1000.0f,
cur_beacon.y / 1000.0f, cur_beacon.z / 1000.0f);
set_beacon_position(cur_beacon.address, pos);
set_beacon_distance(cur_beacon.address, pos.length());
process_beacons_positions_datagram();
beacon_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID:
// add to position_buffer
{
process_position_highres_datagram(cur_position);
break;
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID:
process_beacons_positions_highres_datagram(cur_beacon);
vehicle_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
// callback
if (hedge->receive_data_callback) {
if (data_id == AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID) {
hedge->receive_data_callback(cur_position);
Vector3f pos(cur_position.x / 1000.0f,
cur_position.y / 1000.0f,
cur_position.z / 1000.0f);
set_vehicle_position(pos, 0.0f); //TODO: Calculate Accuracy of the received signal
last_update_ms = AP_HAL::millis();
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID:
{
process_beacons_positions_highres_datagram();
beacon_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
}
}
@ -336,3 +324,75 @@ void AP_Beacon_Marvelmind::update(void)
}
}
//////////////////////////////////////////////////////////////////////////////
// Create and initialize MarvelmindHedge structure
//////////////////////////////////////////////////////////////////////////////
void AP_Beacon_Marvelmind::create_marvelmind_hedge()
{
hedge->max_buffered_positions = 3;
hedge->position_buffer = nullptr;
hedge->verbose = false;
hedge->receive_data_callback = nullptr;
hedge->_last_values_count = 0;
hedge->_last_values_next = 0;
hedge->_have_new_values = false;
hedge->terminationRequired = false;
}
//////////////////////////////////////////////////////////////////////////////
// Initialize and start work
//////////////////////////////////////////////////////////////////////////////
void AP_Beacon_Marvelmind::start_marvelmind_hedge()
{
hedge->position_buffer = (PositionValue*) malloc(sizeof(struct PositionValue) * hedge->max_buffered_positions);
if (hedge->position_buffer == nullptr) {
if (hedge->verbose) {
hal.console->printf("MarvelMind: Not enough memory");
}
hedge->terminationRequired = true;
return;
}
for (uint8_t i = 0; i < hedge->max_buffered_positions; i++) {
hedge->position_buffer[i].ready = false;
hedge->position_buffer[i].processed = false;
}
hedge->positions_beacons.num_beacons = 0;
hedge->positions_beacons.updated = false;
}
bool AP_Beacon_Marvelmind::healthy()
{
// healthy if we have parsed a message within the past 300ms
return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
}
void AP_Beacon_Marvelmind::set_stationary_beacons_positions_and_distances()
{
if (vehicle_position_initialized && beacon_position_initialized) {
if (hedge->_have_new_values) {
vehicle_position_NED__m = Vector3f(cur_position.y / 1000.0f,
cur_position.x / 1000.0f,
-cur_position.z / 1000.0f); //Transform Marvelmind ENU to Ardupilot NED
//TODO: Calculate Accuracy of the received signal. Marvelmind *advertises* +/- 2cms
set_vehicle_position(vehicle_position_NED__m, 0.02f);
last_update_ms = AP_HAL::millis();
}
for (uint8_t i=0; i < hedge->positions_beacons.num_beacons; ++i) {
if (hedge->positions_beacons.updated) {
beacon_position_NED__m[i] = Vector3f(hedge->positions_beacons.beacons[i].y / 1000.0f,
hedge->positions_beacons.beacons[i].x / 1000.0f,
-hedge->positions_beacons.beacons[i].z / 1000.0f); //Transform Marvelmind ENU to Ardupilot NED
set_beacon_position(i, beacon_position_NED__m[i]);
}
if (hedge->_have_new_values) {
// this is a big hack:
// The distances measured in the hedgehog to each beacon are not available in the Marvelmind serial protocol
// As a workaround we use the triangulated position calculated by the Marvelmind hardware and calculate the distances to the beacons
// as a result the EKF will not have to resolve ambiguities
set_beacon_distance(i, (beacon_position_NED__m[i] - vehicle_position_NED__m).length());
}
}
hedge->positions_beacons.updated = false;
hedge->_have_new_values = false;
}
}

85
libraries/AP_Beacon/AP_Beacon_Marvelmind.h
View File

@ -1,7 +1,21 @@
/*
* AP_Beacon_Marvelmind.h
*
* Created on: 21.03.2017
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Original C Code by Marvelmind (https://bitbucket.org/marvelmind_robotics/)
Adapted into Ardupilot by Karthik Desai, Amilcar Lucas
April 2017
*/
#ifndef AP_BEACON_MARVELMIND_H_
@ -9,7 +23,6 @@
#pragma once
#define AP_BEACON_MARVELMIND_MAX_STATIONARY_BEACONS 30
#define AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID 0x0001
#define AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID 0x0002
#define AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID 0x0011
@ -22,11 +35,22 @@ class AP_Beacon_Marvelmind : public AP_Beacon_Backend
{
public:
// constructor
AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager);
// return true if sensor is basically healthy (we are receiving data)
bool healthy();
// update
void update();
private:
// Variables for Marvelmind
struct PositionValue
{
uint8_t address;
uint32_t timestamp;
int32_t x, y, z;// coordinates in millimeters
int32_t x, y, z; // coordinates in millimeters
bool high_resolution;
bool ready;
bool processed;
@ -42,63 +66,58 @@ public:
struct StationaryBeaconsPositions
{
uint8_t num_beacons;
struct StationaryBeaconPosition beacons[AP_BEACON_MARVELMIND_MAX_STATIONARY_BEACONS];
StationaryBeaconPosition beacons[AP_BEACON_MAX_BEACONS];
bool updated;
};
struct MarvelmindHedge
{
uint8_t max_buffered_positions; // maximum count of measurements of coordinates stored in buffer, default: 3
struct PositionValue * position_buffer; // buffer of measurements
struct StationaryBeaconsPositions positions_beacons;
PositionValue * position_buffer; // buffer of measurements
StationaryBeaconsPositions positions_beacons;
bool verbose; // verbose flag which activate console output, default: False
bool pause; // pause flag. If True, class would not read serial data
bool terminationRequired; // If True, thread would exit from main loop and stop
void (*receive_data_callback)(struct PositionValue position); // receive_data_callback is callback function to recieve data
void (*receive_data_callback)(PositionValue position); // receive_data_callback is callback function to receive data
// private variables
uint8_t _last_values_count;
uint8_t _last_values_next;
bool _have_new_values;
};
// constructor
AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager);
// return true if sensor is basically healthy (we are receiving data)
bool healthy();
// update
void update();
private:
enum {
RECV_HDR,
RECV_DGRAM
} parse_state; // current state of receive data
struct MarvelmindHedge *hedge;
struct PositionValue cur_position;
struct StationaryBeaconPosition cur_beacon;
MarvelmindHedge *hedge;
PositionValue cur_position;
uint8_t input_buffer[AP_BEACON_MARVELMIND_BUF_SIZE];
uint16_t num_bytes_in_block_received;
uint16_t data_id;
struct MarvelmindHedge* m_MarvelmindHedge;
uint16_t calc_crc_modbus(uint8_t *buf, uint16_t len);
bool get_or_alloc_beacon(struct StationaryBeaconPosition &b, uint8_t address);
StationaryBeaconPosition* get_or_alloc_beacon(uint8_t address);
uint8_t mark_position_ready();
void process_beacons_positions_datagram(struct StationaryBeaconPosition &b);
void process_beacons_positions_highres_datagram(struct StationaryBeaconPosition &b);
void process_position_highres_datagram(struct PositionValue &p);
void process_position_datagram(struct PositionValue &p);
void process_beacons_positions_datagram();
void process_beacons_positions_highres_datagram();
void process_position_highres_datagram(PositionValue &p);
void process_position_datagram(PositionValue &p);
void create_marvelmind_hedge();
void start_marvelmind_hedge();
bool get_position_from_marvelmind_hedge(struct PositionValue *position);
void stop_marvelmind_hedge();
void set_stationary_beacons_positions_and_distances();
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_update_ms = 0;
// Variables for Ardupilot
AP_HAL::UARTDriver *uart;
uint32_t last_update_ms;
// cache the vehicle position in NED coordinates [m]
Vector3f vehicle_position_NED__m;
bool vehicle_position_initialized;
// cache the beacon positions in NED coordinates [m]
Vector3f beacon_position_NED__m[AP_BEACON_MAX_BEACONS];
bool beacon_position_initialized;
};
#endif /* AP_BEACON_MARVELMIND_H_ */