forked from Archive/PX4-Autopilot
Support for NXP UWB position sensor
uwb_sr150 driver for the sensor, and some modifications in precision landing to allow landing on a platform using the UWB system.
This commit is contained in:
Hovergames
alessandro
parent
3381a5914d
commit
457130fb69
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@ -41,11 +41,13 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
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CONFIG_COMMON_TELEMETRY=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_DRIVERS_UWB_UWB_SR150=y
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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@ -69,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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@ -23,6 +23,7 @@ CONFIG_DRIVERS_PWM_OUT_SIM=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_DRIVERS_SAFETY_BUTTON=y
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CONFIG_DRIVERS_TONE_ALARM=y
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CONFIG_COMMON_UWB=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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@ -170,6 +170,8 @@ set(msg_files
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uavcan_parameter_value.msg
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ulog_stream.msg
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ulog_stream_ack.msg
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uwb_grid.msg
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uwb_distance.msg
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vehicle_acceleration.msg
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vehicle_air_data.msg
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vehicle_angular_acceleration.msg
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@ -0,0 +1,15 @@
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# UWB distance contains the distance information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint32 time_uwb_ms # Time of UWB device in ms
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uint32 counter # Number of Ranges since last Start of Ranging
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uint32 sessionid # UWB SessionID
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uint32 time_offset # Time between Ranging Rounds in ms
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uint16 status # status feedback #
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uint16[12] anchor_distance # distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)
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bool[12] nlos # Visual line of sight yes/no
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float32[12] aoafirst # Angle of arrival of first incomming RX msg
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float32[3] position # Position of the Landing point in relation to the Drone (x,y,z in Meters NED)
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@ -0,0 +1,25 @@
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# UWB report message contains the grid information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint16 initator_time # time to synchronize clocks (microseconds)
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uint8 num_anchors # Number of anchors
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float64[4] target_gps # GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
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# Grid position information
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# Position in x,y,z in (x,y,z in centimeters NED)
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# staring with POI and Anchor 0 up to Anchor 11
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int16[3] target_pos # Point of Interest, mostly landing Target x,y,z
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int16[3] anchor_pos_0
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int16[3] anchor_pos_1
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int16[3] anchor_pos_2
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int16[3] anchor_pos_3
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int16[3] anchor_pos_4
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int16[3] anchor_pos_5
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int16[3] anchor_pos_6
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int16[3] anchor_pos_7
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int16[3] anchor_pos_8
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int16[3] anchor_pos_9
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int16[3] anchor_pos_10
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int16[3] anchor_pos_11
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@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(uwb_sr150)
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@ -0,0 +1,9 @@
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menu "UWB"
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menuconfig COMMON_UWB
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bool "common UWB Drivers"
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default n
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select DRIVERS_UWB_UWB_SR150
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---help---
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Enable support for uwb drivers
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rsource "*/Kconfig"
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endmenu
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@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__uwb_sr150
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MAIN uwb_sr150
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SRCS
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uwb_sr150.cpp
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uwb_sr150.h
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MODULE_CONFIG
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module.yaml
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DEPENDS
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px4_work_queue
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)
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@ -0,0 +1,5 @@
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menuconfig DRIVERS_UWB_UWB_SR150
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bool "uwb_sr150"
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default n
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---help---
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Enable support for uwb sr150
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@ -0,0 +1,53 @@
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module_name: Ultrawideband position sensor driver
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serial_config:
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- command: uwb_sr150 start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
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port_config_param:
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name: UWB_PORT_CFG
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group: UWB
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default: ""
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parameters:
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- group: UWB
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definitions:
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UWB_INIT_OFF_X:
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description:
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short: UWB sensor X offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. X offset. A Positiv offset results in a Position o
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_INIT_OFF_Y:
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description:
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short: UWB sensor Y offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. Y offset.
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_INIT_OFF_Z:
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description:
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short: UWB sensor Y offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. Z offset.
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_INIT_OFF_YAW:
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description:
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short: UWB sensor YAW offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. Yaw rotation in relation to direction of FMU.
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type: float
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unit: deg
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decimal: 1
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increment: 0.1
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default: 0.00
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@ -0,0 +1,715 @@
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/****************************************************************************
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*
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* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* This is a driver for the NXP SR150 UWB Chip on MK UWB Shield 2
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* This Driver handles the Communication to the UWB Board.
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* For Information about HW and SW contact Mobile Knowledge:
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* https://www.themobileknowledge.com
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* */
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#include "uwb_sr150.h"
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/cli.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <ctype.h>
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#include <string.h>
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// Timeout between bytes. If there is more time than this between bytes, then this driver assumes
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// that it is the boundary between messages.
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// See uwb_sr150::run() for more detailed explanation.
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#define BYTE_TIMEOUT_US 5000
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// Amount of time to wait for a new message. If more time than this passes between messages, then this
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// driver assumes that the UWB_SR150 module is disconnected.
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// (Right now it does not do anything about this)
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#define MESSAGE_TIMEOUT_S 10 //wait 10 seconds.
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#define MESSAGE_TIMEOUT_US 1
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// The default baudrate of the uwb_sr150 module before configuration
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#define DEFAULT_BAUD B115200
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const uint8_t CMD_RANGING_STOP[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_STOP};
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const uint8_t CMD_RANGING_START[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_START};
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const uint8_t CMD_APP_START[UWB_CMD_LEN ] = {0x01, 0x00, 0x02, UWB_APP_START, UWB_PRECNAV_APP};
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const uint8_t CMD_APP_STOP[0x04 ] = {0x01, 0x00, 0x01, UWB_APP_STOP};
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extern "C" __EXPORT int uwb_sr150_main(int argc, char *argv[]);
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UWB_SR150::UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug):
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ModuleParams(nullptr),
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_read_count_perf(perf_alloc(PC_COUNT, "uwb_sr150_count")),
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_read_err_perf(perf_alloc(PC_COUNT, "uwb_sr150_err"))
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{
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_uwb_pos_debug = uwb_pos_debug;
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// start serial port
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_uart = open(device_name, O_RDWR | O_NOCTTY);
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if (_uart < 0) { err(1, "could not open %s", device_name); }
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int ret = 0;
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struct termios uart_config {};
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ret = tcgetattr(_uart, &uart_config);
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if (ret < 0) { err(1, "failed to get attr"); }
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uart_config.c_oflag &= ~ONLCR; // no CR for every LF
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ret = cfsetispeed(&uart_config, baudrate);
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if (ret < 0) { err(1, "failed to set input speed"); }
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ret = cfsetospeed(&uart_config, baudrate);
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if (ret < 0) { err(1, "failed to set output speed"); }
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ret = tcsetattr(_uart, TCSANOW, &uart_config);
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if (ret < 0) { err(1, "failed to set attr"); }
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}
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UWB_SR150::~UWB_SR150()
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{
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printf("UWB: Ranging Stopped\t\n");
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int written = write(_uart, &CMD_APP_STOP, sizeof(CMD_APP_STOP));
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if (written < (int) sizeof(CMD_APP_STOP)) {
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PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_APP_STOP));
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}
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perf_free(_read_err_perf);
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perf_free(_read_count_perf);
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close(_uart);
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}
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void UWB_SR150::run()
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{
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// Subscribe to parameter_update message
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parameters_update();
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//TODO replace with BLE grid configuration
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grid_info_read(&_uwb_grid_info.target_pos);
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_uwb_grid_info.num_anchors = 4;
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_uwb_grid_info.initator_time = hrt_absolute_time();
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_uwb_grid_info.mac_mode = 0x00;
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/* Grid Info Message*/
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_uwb_grid.timestamp = hrt_absolute_time();
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_uwb_grid.initator_time = _uwb_grid_info.initator_time;
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_uwb_grid.num_anchors = _uwb_grid_info.num_anchors;
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memcpy(&_uwb_grid.target_pos, &_uwb_grid_info.target_pos, sizeof(position_t) * 5); //write Grid positions
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_uwb_grid_pub.publish(_uwb_grid);
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/* Ranging Command */
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int written = write(_uart, CMD_RANGING_START, UWB_CMD_LEN);
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if (written < UWB_CMD_LEN) {
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PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(uint8_t) * UWB_CMD_LEN);
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}
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while (!should_exit()) {
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written = UWB_SR150::distance(); //evaluate Ranging Messages until Stop
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}
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if (!written) { printf("ERROR: Distance Failed"); }
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// Automatic Stop. This should not be reachable
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written = write(_uart, &CMD_RANGING_STOP, UWB_CMD_LEN);
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if (written < (int) sizeof(CMD_RANGING_STOP)) {
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PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_RANGING_STOP));
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}
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}
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void UWB_SR150::grid_info_read(position_t *grid)
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{
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//place holder, until UWB initiator can respond with Grid info
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/* This Reads the position of each Anchor in the Grid.
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Right now the Grid configuration is saved on the SD card.
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In the future, we would like, that the Initiator responds with the Grid Information (Including Position). */
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PX4_INFO("Reading UWB GRID from SD... \t\n");
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FILE *file;
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file = fopen(UWB_GRID_CONFIG, "r");
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int bread = 0;
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for (int i = 0; i < 5; i++) {
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bread += fscanf(file, "%hd,%hd,%hd\n", &grid[i].x, &grid[i].y, &grid[i].z);
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}
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if (bread == 5 * 3) {
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PX4_INFO("GRID INFO READ! bytes read: %d \t\n", bread);
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} else { //use UUID from Grid survey
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PX4_INFO("GRID INFO Missing! bytes read: %d \t\n Using standrd Grid \t\n", bread);
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position_t grid_setup[5] = {{0x0, 0x0, 0x0}, {(int16_t)0xff68, 0x0, 0x0a}, {0x99, 0x0, 0x0a}, {0x0, 0x96, 0x64}, {0x0, (int16_t)0xff6a, 0x63}};
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memcpy(grid, &grid_setup, sizeof(grid_setup));
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PX4_INFO("Insert \"uwb_grid_config.csv\" containing gridinfo in cm at \"/fs/microsd/etc/\".\t\n");
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PX4_INFO("n + 1 Anchor Positions starting with Landing Target. Int16 Format: \"x,y,z\" \t\n");
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}
|
||||
|
||||
fclose(file);
|
||||
}
|
||||
|
||||
int UWB_SR150::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("Unrecognized command.");
|
||||
}
|
||||
|
||||
int UWB_SR150::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
printf("%s\n\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("uwb", "driver");
|
||||
PRINT_MODULE_DESCRIPTION(R"DESC_STR(
|
||||
### Description
|
||||
|
||||
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a `uwb_distance` message
|
||||
whenever the UWB_SR150 has a position measurement available.
|
||||
|
||||
### Example
|
||||
|
||||
Start the driver with a given device:
|
||||
|
||||
$ uwb start -d /dev/ttyS2
|
||||
)DESC_STR");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Name of device for serial communication with UWB", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('b', nullptr, "<int>", "Baudrate for serial communication", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "<int>", "Position Debug: displays errors in Multilateration", false);
|
||||
PRINT_MODULE_USAGE_COMMAND("stop");
|
||||
PRINT_MODULE_USAGE_COMMAND("status");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int UWB_SR150::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
int task_id = px4_task_spawn_cmd(
|
||||
"uwb_driver",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2048,
|
||||
&run_trampoline,
|
||||
argv
|
||||
);
|
||||
|
||||
if (task_id < 0) {
|
||||
return -errno;
|
||||
|
||||
} else {
|
||||
_task_id = task_id;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
UWB_SR150 *UWB_SR150::instantiate(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
int option_index = 1;
|
||||
const char *option_arg;
|
||||
const char *device_name = nullptr;
|
||||
bool error_flag = false;
|
||||
int baudrate = 0;
|
||||
bool uwb_pos_debug = false; // Display UWB position calculation debug Messages
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:b:p", &option_index, &option_arg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device_name = option_arg;
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
px4_get_parameter_value(option_arg, baudrate);
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
|
||||
uwb_pos_debug = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unrecognized flag: %c", ch);
|
||||
error_flag = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!error_flag && device_name == nullptr) {
|
||||
print_usage("Device name not provided. Using default Device: TEL1:/dev/ttyS4 \n");
|
||||
device_name = "TEL2";
|
||||
error_flag = true;
|
||||
}
|
||||
|
||||
if (!error_flag && baudrate == 0) {
|
||||
printf("Baudrate not provided. Using default Baud: 115200 \n");
|
||||
baudrate = B115200;
|
||||
}
|
||||
|
||||
if (!error_flag && uwb_pos_debug == true) {
|
||||
printf("UWB Position algorithm Debugging \n");
|
||||
}
|
||||
|
||||
if (error_flag) {
|
||||
PX4_WARN("Failed to start UWB driver. \n");
|
||||
return nullptr;
|
||||
|
||||
} else {
|
||||
PX4_INFO("Constructing UWB_SR150. Device: %s", device_name);
|
||||
return new UWB_SR150(device_name, baudrate, uwb_pos_debug);
|
||||
}
|
||||
}
|
||||
|
||||
int UWB_SR150::distance()
|
||||
{
|
||||
_uwb_init_offset_v3f = matrix::Vector3f(_uwb_init_off_x.get(), _uwb_init_off_y.get(),
|
||||
_uwb_init_off_z.get()); //set offset at the start
|
||||
uint8_t *buffer = (uint8_t *) &_distance_result_msg;
|
||||
|
||||
FD_ZERO(&_uart_set);
|
||||
FD_SET(_uart, &_uart_set);
|
||||
_uart_timeout.tv_sec = MESSAGE_TIMEOUT_S ;
|
||||
_uart_timeout.tv_usec = MESSAGE_TIMEOUT_US;
|
||||
|
||||
size_t buffer_location = 0;
|
||||
// There is a atleast 2000 clock cycles between 2 msg (20000/80mhz = 200uS)
|
||||
// Messages are only delimited by time. There is a chance that this driver starts up in the middle
|
||||
// of a message, with no way to know this other than time. There is also always the possibility of
|
||||
// transmission errors causing a dropped byte.
|
||||
// Here is the process for dealing with that:
|
||||
// - Wait up to 1 second to start receiving a message
|
||||
// - Once receiving a message, keep going until EITHER:
|
||||
// - There is too large of a gap between bytes (Currently set to 5ms).
|
||||
// This means the message is incomplete. Throw it out and start over.
|
||||
// - 46 bytes are received (the size of the whole message).
|
||||
|
||||
while (buffer_location < sizeof(_distance_result_msg)
|
||||
&& select(_uart + 1, &_uart_set, nullptr, nullptr, &_uart_timeout) > 0) {
|
||||
|
||||
int bytes_read = read(_uart, &buffer[buffer_location], sizeof(_distance_result_msg) - buffer_location);
|
||||
|
||||
if (bytes_read > 0) {
|
||||
buffer_location += bytes_read;
|
||||
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
|
||||
FD_ZERO(&_uart_set);
|
||||
FD_SET(_uart, &_uart_set);
|
||||
_uart_timeout.tv_sec = 0;
|
||||
// Setting this timeout too high (> 37ms) will cause problems because the next message will start
|
||||
// coming in, and overlap with the current message.
|
||||
// Setting this timeout too low (< 1ms) will cause problems because there is some delay between
|
||||
// the individual bytes of a message, and a too-short timeout will cause the message to be truncated.
|
||||
// The current value of 5ms was found experimentally to never cut off a message prematurely.
|
||||
// Strictly speaking, there are no downsides to setting this timeout as high as possible (Just under 37ms),
|
||||
// because if this process is waiting, it means that the last message was incomplete, so there is no current
|
||||
// data waiting to be published. But we would rather set this timeout lower in case the UWB_SR150 board is
|
||||
// updated to publish data faster.
|
||||
_uart_timeout.tv_usec = BYTE_TIMEOUT_US;
|
||||
}
|
||||
|
||||
perf_count(_read_count_perf);
|
||||
|
||||
// All of the following criteria must be met for the message to be acceptable:
|
||||
// - Size of message == sizeof(distance_msg_t) (51 bytes)
|
||||
// - status == 0x00
|
||||
// - Values of all 3 position measurements are reasonable
|
||||
// (If one or more anchors is missed, then position might be an unreasonably large number.)
|
||||
bool ok = (buffer_location == sizeof(distance_msg_t) && _distance_result_msg.stop == 0x1b); //||
|
||||
//(buffer_location == sizeof(grid_msg_t) && _distance_result_msg.stop == 0x1b)
|
||||
//);
|
||||
|
||||
if (ok) {
|
||||
|
||||
/* Ranging Message*/
|
||||
_uwb_distance.timestamp = hrt_absolute_time();
|
||||
_uwb_distance.time_uwb_ms = _distance_result_msg.time_uwb_ms;
|
||||
_uwb_distance.counter = _distance_result_msg.seq_ctr;
|
||||
_uwb_distance.sessionid = _distance_result_msg.sessionId;
|
||||
_uwb_distance.time_offset = _distance_result_msg.range_interval;
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
_uwb_distance.anchor_distance[i] = _distance_result_msg.measurements[i].distance;
|
||||
_uwb_distance.nlos[i] = _distance_result_msg.measurements[i].nLos;
|
||||
_uwb_distance.aoafirst[i] = float(_distance_result_msg.measurements[i].aoaFirst) /
|
||||
128; // Angle of Arrival has Format Q9.7; dividing by 2^7 results in the correct value
|
||||
}
|
||||
|
||||
// Algorithm goes here
|
||||
UWB_POS_ERROR_CODES UWB_POS_ERROR = UWB_SR150::localization();
|
||||
|
||||
_uwb_distance.status = UWB_POS_ERROR;
|
||||
|
||||
if (UWB_OK == UWB_POS_ERROR) {
|
||||
|
||||
_uwb_distance.position[0] = _rel_pos(0);
|
||||
_uwb_distance.position[1] = _rel_pos(1);
|
||||
_uwb_distance.position[2] = _rel_pos(2);
|
||||
|
||||
} else {
|
||||
//only print the error if debug is enabled
|
||||
if (_uwb_pos_debug) {
|
||||
switch (UWB_POS_ERROR) { //UWB POSITION ALGORItHM Errors
|
||||
case UWB_ANC_BELOW_THREE:
|
||||
PX4_INFO("UWB not enough anchors for doing localization");
|
||||
break;
|
||||
|
||||
case UWB_LIN_DEP_FOR_THREE:
|
||||
PX4_INFO("UWB localization: linear dependant with 3 Anchors");
|
||||
break;
|
||||
|
||||
case UWB_ANC_ON_ONE_LEVEL:
|
||||
PX4_INFO("UWB localization: Anchors are on a X,Y Plane and there are not enought Anchors");
|
||||
break;
|
||||
|
||||
case UWB_LIN_DEP_FOR_FOUR:
|
||||
PX4_INFO("UWB localization: linear dependant with four or more Anchors");
|
||||
break;
|
||||
|
||||
case UWB_RANK_ZERO:
|
||||
PX4_INFO("UWB localization: rank is zero");
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_INFO("UWB localization: Unknown failure in Position Algorithm");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
_uwb_distance_pub.publish(_uwb_distance);
|
||||
|
||||
} else {
|
||||
//PX4_ERR("Read %d bytes instead of %d.", (int) buffer_location, (int) sizeof(distance_msg_t));
|
||||
perf_count(_read_err_perf);
|
||||
|
||||
if (buffer_location == 0) {
|
||||
PX4_WARN("UWB module is not responding.");
|
||||
|
||||
//TODO add retry Ranging Start Message. Sometimes the UWB devices Crashes. (Check Power)
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
UWB_POS_ERROR_CODES UWB_SR150::localization()
|
||||
{
|
||||
// WIP
|
||||
/******************************************************
|
||||
****************** 3D Localization *******************
|
||||
*****************************************************/
|
||||
|
||||
/*!@brief: This function calculates the 3D position of the initiator from the anchor distances and positions using least squared errors.
|
||||
* The function expects more than 4 anchors. The used equation system looks like follows:\n
|
||||
\verbatim
|
||||
- -
|
||||
| M_11 M_12 M_13 | x b[0]
|
||||
| M_12 M_22 M_23 | * y = b[1]
|
||||
| M_23 M_13 M_33 | z b[2]
|
||||
- -
|
||||
\endverbatim
|
||||
* @param distances_cm_in_pt: Pointer to array that contains the distances to the anchors in cm (including invalid results)
|
||||
* @param no_distances: Number of valid distances in distance array (it's not the size of the array)
|
||||
* @param anchor_pos: Pointer to array that contains anchor positions in cm (including positions related to invalid results)
|
||||
* @param no_anc_positions: Number of valid anchor positions in the position array (it's not the size of the array)
|
||||
* @param position_result_pt: Pointer toposition. position_t variable that holds the result of this calculation
|
||||
* @return: The function returns a status code. */
|
||||
|
||||
/* Algorithm used:
|
||||
* Linear Least Sqaures to solve Multilateration
|
||||
* with a Special case if there are only 3 Anchors.
|
||||
* Output is the Coordinates of the Initiator in relation to Anchor 0 in NEU (North-East-Up) Framing
|
||||
* In cm
|
||||
*/
|
||||
|
||||
/* Resulting Position Vector*/
|
||||
int64_t x_pos = 0;
|
||||
int64_t y_pos = 0;
|
||||
int64_t z_pos = 0;
|
||||
/* Matrix components (3*3 Matrix resulting from least square error method) [cm^2] */
|
||||
int64_t M_11 = 0;
|
||||
int64_t M_12 = 0; // = M_21
|
||||
int64_t M_13 = 0; // = M_31
|
||||
int64_t M_22 = 0;
|
||||
int64_t M_23 = 0; // = M_23
|
||||
int64_t M_33 = 0;
|
||||
|
||||
/* Vector components (3*1 Vector resulting from least square error method) [cm^3] */
|
||||
int64_t b[3] = {0};
|
||||
|
||||
/* Miscellaneous variables */
|
||||
int64_t temp = 0;
|
||||
int64_t temp2 = 0;
|
||||
int64_t nominator = 0;
|
||||
int64_t denominator = 0;
|
||||
bool anchors_on_x_y_plane = true; // Is true, if all anchors are on the same height => x-y-plane
|
||||
bool lin_dep = true; // All vectors are linear dependent, if this variable is true
|
||||
uint8_t ind_y_indi =
|
||||
0; //numberr of independet vectors // First anchor index, for which the second row entry of the matrix [(x_1 - x_0) (x_2 - x_0) ... ; (y_1 - x_0) (y_2 - x_0) ...] is non-zero => linear independent
|
||||
|
||||
/* Arrays for used distances and anchor positions (without rejected ones) */
|
||||
uint8_t no_distances = _uwb_grid_info.num_anchors;
|
||||
uint32_t distances_cm[no_distances];
|
||||
position_t anchor_pos[no_distances]; //position in CM
|
||||
uint8_t no_valid_distances = 0;
|
||||
|
||||
/* Reject invalid distances (including related anchor position) */
|
||||
for (int i = 0; i < no_distances; i++) {
|
||||
if (_distance_result_msg.measurements[i].distance != 0xFFFFu) {
|
||||
//excludes any distance that is 0xFFFFU (int16 Maximum Value)
|
||||
distances_cm[no_valid_distances] = _distance_result_msg.measurements[i].distance;
|
||||
anchor_pos[no_valid_distances] = _uwb_grid_info.anchor_pos[i];
|
||||
no_valid_distances++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/* Check, if there are enough valid results for doing the localization at all */
|
||||
if (no_valid_distances < 3) {
|
||||
return UWB_ANC_BELOW_THREE;
|
||||
}
|
||||
|
||||
/* Check, if anchors are on the same x-y plane */
|
||||
for (int i = 1; i < no_valid_distances; i++) {
|
||||
if (anchor_pos[i].z != anchor_pos[0].z) {
|
||||
anchors_on_x_y_plane = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**** Check, if there are enough linear independent anchor positions ****/
|
||||
|
||||
/* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) ... | has rank 2
|
||||
* |(y_1 - y_0) (y_2 - y_0) ... | */
|
||||
|
||||
for (ind_y_indi = 2; ((ind_y_indi < no_valid_distances) && (lin_dep == true)); ind_y_indi++) {
|
||||
temp = ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].x -
|
||||
(int64_t)anchor_pos[0].x);
|
||||
temp2 = ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].x -
|
||||
(int64_t)anchor_pos[0].x);
|
||||
|
||||
if ((temp - temp2) != 0) {
|
||||
lin_dep = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Leave function, if rank is below 2 */
|
||||
if (lin_dep == true) {
|
||||
return UWB_LIN_DEP_FOR_THREE;
|
||||
}
|
||||
|
||||
/* If the anchors are not on the same plane, three vectors must be independent => check */
|
||||
if (!anchors_on_x_y_plane) {
|
||||
/* Check, if there are enough valid results for doing the localization */
|
||||
if (no_valid_distances < 4) {
|
||||
return UWB_ANC_ON_ONE_LEVEL;
|
||||
}
|
||||
|
||||
/* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) (x_3 - x_0) ... | has rank 3 (Rank y, y already checked)
|
||||
* |(y_1 - y_0) (y_2 - y_0) (y_3 - y_0) ... |
|
||||
* |(z_1 - z_0) (z_2 - z_0) (z_3 - z_0) ... | */
|
||||
lin_dep = true;
|
||||
|
||||
for (int i = 2; ((i < no_valid_distances) && (lin_dep == true)); i++) {
|
||||
if (i != ind_y_indi) {
|
||||
/* (x_1 - x_0)*[(y_2 - y_0)(z_n - z_0) - (y_n - y_0)(z_2 - z_0)] */
|
||||
temp = ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z -
|
||||
(int64_t)anchor_pos[0].z);
|
||||
temp -= ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z -
|
||||
(int64_t)anchor_pos[0].z);
|
||||
temp2 = ((int64_t)anchor_pos[1].x - (int64_t)anchor_pos[0].x) * temp;
|
||||
|
||||
/* Add (x_2 - x_0)*[(y_n - y_0)(z_1 - z_0) - (y_1 - y_0)(z_n - z_0)] */
|
||||
temp = ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z - (int64_t)anchor_pos[0].z);
|
||||
temp -= ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z - (int64_t)anchor_pos[0].z);
|
||||
temp2 += ((int64_t)anchor_pos[ind_y_indi].x - (int64_t)anchor_pos[0].x) * temp;
|
||||
|
||||
/* Add (x_n - x_0)*[(y_1 - y_0)(z_2 - z_0) - (y_2 - y_0)(z_1 - z_0)] */
|
||||
temp = ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z -
|
||||
(int64_t)anchor_pos[0].z);
|
||||
temp -= ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z -
|
||||
(int64_t)anchor_pos[0].z);
|
||||
temp2 += ((int64_t)anchor_pos[i].x - (int64_t)anchor_pos[0].x) * temp;
|
||||
|
||||
if (temp2 != 0) { lin_dep = false; }
|
||||
}
|
||||
}
|
||||
|
||||
/* Leave function, if rank is below 3 */
|
||||
if (lin_dep == true) {
|
||||
return UWB_LIN_DEP_FOR_FOUR;
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************** Algorithm ***********************************************************************/
|
||||
|
||||
/* Writing values resulting from least square error method (A_trans*A*x = A_trans*r; row 0 was used to remove x^2,y^2,z^2 entries => index starts at 1) */
|
||||
for (int i = 1; i < no_valid_distances; i++) {
|
||||
/* Matrix (needed to be multiplied with 2, afterwards) */
|
||||
M_11 += (int64_t)pow((int64_t)(anchor_pos[i].x - anchor_pos[0].x), 2);
|
||||
M_12 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].y - anchor_pos[0].y));
|
||||
M_13 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z));
|
||||
M_22 += (int64_t)pow((int64_t)(anchor_pos[i].y - anchor_pos[0].y), 2);
|
||||
M_23 += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z));
|
||||
M_33 += (int64_t)pow((int64_t)(anchor_pos[i].z - anchor_pos[0].z), 2);
|
||||
|
||||
/* Vector */
|
||||
temp = (int64_t)((int64_t)pow(distances_cm[0], 2) - (int64_t)pow(distances_cm[i], 2)
|
||||
+ (int64_t)pow(anchor_pos[i].x, 2) + (int64_t)pow(anchor_pos[i].y, 2)
|
||||
+ (int64_t)pow(anchor_pos[i].z, 2) - (int64_t)pow(anchor_pos[0].x, 2)
|
||||
- (int64_t)pow(anchor_pos[0].y, 2) - (int64_t)pow(anchor_pos[0].z, 2));
|
||||
|
||||
b[0] += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * temp);
|
||||
b[1] += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * temp);
|
||||
b[2] += (int64_t)((int64_t)(anchor_pos[i].z - anchor_pos[0].z) * temp);
|
||||
}
|
||||
|
||||
M_11 = 2 * M_11;
|
||||
M_12 = 2 * M_12;
|
||||
M_13 = 2 * M_13;
|
||||
M_22 = 2 * M_22;
|
||||
M_23 = 2 * M_23;
|
||||
M_33 = 2 * M_33;
|
||||
|
||||
/* Calculating the z-position, if calculation is possible (at least one anchor at z != 0) */
|
||||
if (anchors_on_x_y_plane == false) {
|
||||
nominator = b[0] * (M_12 * M_23 - M_13 * M_22) + b[1] * (M_12 * M_13 - M_11 * M_23) + b[2] *
|
||||
(M_11 * M_22 - M_12 * M_12); // [cm^7]
|
||||
denominator = M_11 * (M_33 * M_22 - M_23 * M_23) + 2 * M_12 * M_13 * M_23 - M_33 * M_12 * M_12 - M_22 * M_13 *
|
||||
M_13; // [cm^6]
|
||||
|
||||
/* Check, if denominator is zero (Rank of matrix not high enough) */
|
||||
if (denominator == 0) {
|
||||
return UWB_RANK_ZERO;
|
||||
}
|
||||
|
||||
z_pos = ((nominator * 10) / denominator + 5) / 10; // [cm]
|
||||
}
|
||||
|
||||
/* Else prepare for different calculation approach (after x and y were calculated) */
|
||||
else {
|
||||
z_pos = 0;
|
||||
}
|
||||
|
||||
/* Calculating the y-position */
|
||||
nominator = b[1] * M_11 - b[0] * M_12 - (z_pos * (M_11 * M_23 - M_12 * M_13)); // [cm^5]
|
||||
denominator = M_11 * M_22 - M_12 * M_12;// [cm^4]
|
||||
|
||||
/* Check, if denominator is zero (Rank of matrix not high enough) */
|
||||
if (denominator == 0) {
|
||||
return UWB_RANK_ZERO;
|
||||
}
|
||||
|
||||
y_pos = ((nominator * 10) / denominator + 5) / 10; // [cm]
|
||||
|
||||
/* Calculating the x-position */
|
||||
nominator = b[0] - z_pos * M_13 - y_pos * M_12; // [cm^3]
|
||||
denominator = M_11; // [cm^2]
|
||||
|
||||
x_pos = ((nominator * 10) / denominator + 5) / 10;// [cm]
|
||||
|
||||
/* Calculate z-position form x and y coordinates, if z can't be determined by previous steps (All anchors at z_n = 0) */
|
||||
if (anchors_on_x_y_plane == true) {
|
||||
/* Calculate z-positon relative to the anchor grid's height */
|
||||
for (int i = 0; i < no_distances; i++) {
|
||||
/* z² = dis_meas_n² - (x - x_anc_n)² - (y - y_anc_n)² */
|
||||
temp = (int64_t)((int64_t)pow(distances_cm[i], 2)
|
||||
- (int64_t)pow((x_pos - (int64_t)anchor_pos[i].x), 2)
|
||||
- (int64_t)pow((y_pos - (int64_t)anchor_pos[i].y), 2));
|
||||
|
||||
/* z² must be positive, else x and y must be wrong => calculate positive sqrt and sum up all calculated heights, if positive */
|
||||
if (temp >= 0) {
|
||||
z_pos += (int64_t)sqrt(temp);
|
||||
|
||||
} else {
|
||||
z_pos = 0;
|
||||
}
|
||||
}
|
||||
|
||||
z_pos = z_pos / no_distances; // Divide sum by number of distances to get the average
|
||||
|
||||
/* Add height of the anchor grid's height */
|
||||
z_pos += anchor_pos[0].z;
|
||||
}
|
||||
|
||||
//Output is the Coordinates of the Initiator in relation to 0,0,0 in NEU (North-East-Up) Framing
|
||||
// The end goal of this math is to get the position relative to the landing point in the NED frame.
|
||||
_current_position_uwb_init = matrix::Vector3f(x_pos, y_pos, z_pos);
|
||||
|
||||
// Construct the rotation from the UWB_R4frame to the NWU frame.
|
||||
// The UWB_SR150 frame is just NWU, rotated by some amount about the Z (up) axis. (Parameter Yaw offset)
|
||||
// To get back to NWU, just rotate by negative this amount about Z.
|
||||
_uwb_init_to_nwu = matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f,
|
||||
-(_uwb_init_off_yaw.get() * M_PI_F / 180.0f))); //
|
||||
// The actual conversion:
|
||||
// - Subtract _landing_point to get the position relative to the landing point, in UWB_R4 frame
|
||||
// - Rotate by _rddrone_to_nwu to get into the NWU frame
|
||||
// - Rotate by _nwu_to_ned to get into the NED frame
|
||||
_current_position_ned = _nwu_to_ned * _uwb_init_to_nwu * _current_position_uwb_init;
|
||||
|
||||
// Now the position is the landing point relative to the vehicle.
|
||||
// so the only thing left is to convert cm to Meters and to add the Initiator offset
|
||||
_rel_pos = _current_position_ned / 100 + _uwb_init_offset_v3f;
|
||||
|
||||
// The UWB report contains the position of the vehicle relative to the landing point.
|
||||
|
||||
return UWB_OK;
|
||||
}
|
||||
|
||||
int uwb_sr150_main(int argc, char *argv[])
|
||||
{
|
||||
return UWB_SR150::main(argc, argv);
|
||||
}
|
||||
|
||||
void UWB_SR150::parameters_update()
|
||||
{
|
||||
if (_parameter_update_sub.updated()) {
|
||||
parameter_update_s param_update;
|
||||
_parameter_update_sub.copy(¶m_update);
|
||||
|
||||
// If any parameter updated, call updateParams() to check if
|
||||
// this class attributes need updating (and do so).
|
||||
updateParams();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,207 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef PX4_RDDRONE_H
|
||||
#define PX4_RDDRONE_H
|
||||
|
||||
#include <termios.h>
|
||||
#include <poll.h>
|
||||
#include <sys/select.h>
|
||||
#include <sys/time.h>
|
||||
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/topics/landing_target_pose.h>
|
||||
#include <uORB/topics/uwb_grid.h>
|
||||
#include <uORB/topics/uwb_distance.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <matrix/math.hpp>
|
||||
#include <matrix/Matrix.hpp>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
#define UWB_CMD 0x8e
|
||||
#define UWB_CMD_START 0x01
|
||||
#define UWB_CMD_STOP 0x00
|
||||
#define UWB_CMD_RANGING 0x0A
|
||||
#define STOP_B 0x0A
|
||||
|
||||
#define UWB_PRECNAV_APP 0x04
|
||||
#define UWB_APP_START 0x10
|
||||
#define UWB_APP_STOP 0x11
|
||||
#define UWB_SESSION_START 0x22
|
||||
#define UWB_SESSION_STOP 0x23
|
||||
#define UWB_RANGING_START 0x01
|
||||
#define UWB_RANGING_STOP 0x00
|
||||
#define UWB_DRONE_CTL 0x0A
|
||||
|
||||
#define UWB_CMD_LEN 0x05
|
||||
#define UWB_CMD_DISTANCE_LEN 0x21
|
||||
#define UWB_MAC_MODE 2
|
||||
#define MAX_ANCHORS 12
|
||||
#define UWB_GRID_CONFIG "/fs/microsd/etc/uwb_grid_config.csv"
|
||||
|
||||
typedef struct { //needs higher accuracy?
|
||||
float lat, lon, alt, yaw; //offset to true North
|
||||
} gps_pos_t;
|
||||
|
||||
typedef struct {
|
||||
int16_t x, y, z; //axis in cm
|
||||
} position_t; // Position of a device or target in 3D space
|
||||
|
||||
enum UWB_POS_ERROR_CODES {
|
||||
UWB_OK,
|
||||
UWB_ANC_BELOW_THREE,
|
||||
UWB_LIN_DEP_FOR_THREE,
|
||||
UWB_ANC_ON_ONE_LEVEL,
|
||||
UWB_LIN_DEP_FOR_FOUR,
|
||||
UWB_RANK_ZERO
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
uint8_t MAC[2]; // MAC Adress of UWB device
|
||||
uint8_t status; // Status of Measurement
|
||||
uint16_t distance; // Distance in cm
|
||||
uint8_t nLos; // line of sight y/n
|
||||
uint16_t aoaFirst; // Angle of Arrival of incoming msg
|
||||
} __attribute__((packed)) UWB_range_meas_t;
|
||||
|
||||
typedef struct {
|
||||
uint32_t initator_time; //timestamp of init
|
||||
uint32_t sessionId; // Session ID of UWB session
|
||||
uint8_t num_anchors; //number of anchors
|
||||
gps_pos_t target_gps; //GPS position of Landing Point
|
||||
uint8_t mac_mode; // MAC adress mode, either 2 Byte or 8 Byte
|
||||
uint8_t MAC[UWB_MAC_MODE][MAX_ANCHORS];
|
||||
position_t target_pos; //target position
|
||||
position_t anchor_pos[MAX_ANCHORS]; // Position of each anchor
|
||||
uint8_t stop; // Should be 27
|
||||
} grid_msg_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t cmd; // Should be 0x8E for distance result message
|
||||
uint16_t len; // Should be 0x30 for distance result message
|
||||
uint32_t time_uwb_ms; // Timestamp of UWB device in ms
|
||||
uint32_t seq_ctr; // Number of Ranges since last Start of Ranging
|
||||
uint32_t sessionId; // Session ID of UWB session
|
||||
uint32_t range_interval; // Time between ranging rounds
|
||||
uint8_t mac_mode; // MAC adress mode, either 2 Byte or 8 Byte
|
||||
uint8_t no_measurements; // MAC adress mode, either 2 Byte or 8 Byte
|
||||
UWB_range_meas_t measurements[4]; //Raw anchor_distance distances in CM 2*9
|
||||
uint8_t stop; // Should be 0x1B
|
||||
} __attribute__((packed)) distance_msg_t;
|
||||
|
||||
class UWB_SR150 : public ModuleBase<UWB_SR150>, public ModuleParams
|
||||
{
|
||||
public:
|
||||
UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug);
|
||||
|
||||
~UWB_SR150();
|
||||
|
||||
/**
|
||||
* @see ModuleBase::custom_command
|
||||
*/
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* @see ModuleBase::print_usage
|
||||
*/
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/**
|
||||
* @see ModuleBase::Multilateration
|
||||
*/
|
||||
UWB_POS_ERROR_CODES localization();
|
||||
|
||||
/**
|
||||
* @see ModuleBase::Distance Result
|
||||
*/
|
||||
int distance();
|
||||
|
||||
/**
|
||||
* @see ModuleBase::task_spawn
|
||||
*/
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
static UWB_SR150 *instantiate(int argc, char *argv[]);
|
||||
|
||||
void run() override;
|
||||
|
||||
private:
|
||||
void parameters_update();
|
||||
|
||||
void grid_info_read(position_t *grid);
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::UWB_INIT_OFF_X>) _uwb_init_off_x,
|
||||
(ParamFloat<px4::params::UWB_INIT_OFF_Y>) _uwb_init_off_y,
|
||||
(ParamFloat<px4::params::UWB_INIT_OFF_Z>) _uwb_init_off_z,
|
||||
(ParamFloat<px4::params::UWB_INIT_OFF_YAW>) _uwb_init_off_yaw
|
||||
)
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
int _uart;
|
||||
fd_set _uart_set;
|
||||
struct timeval _uart_timeout {};
|
||||
bool _uwb_pos_debug;
|
||||
|
||||
uORB::Publication<uwb_grid_s> _uwb_grid_pub{ORB_ID(uwb_grid)};
|
||||
uwb_grid_s _uwb_grid{};
|
||||
|
||||
uORB::Publication<uwb_distance_s> _uwb_distance_pub{ORB_ID(uwb_distance)};
|
||||
uwb_distance_s _uwb_distance{};
|
||||
|
||||
uORB::Publication<landing_target_pose_s> _landing_target_pub{ORB_ID(landing_target_pose)};
|
||||
landing_target_pose_s _landing_target{};
|
||||
|
||||
grid_msg_t _uwb_grid_info{};
|
||||
distance_msg_t _distance_result_msg{};
|
||||
matrix::Vector3f _rel_pos;
|
||||
|
||||
matrix::Dcmf _uwb_init_to_nwu;
|
||||
matrix::Dcmf _nwu_to_ned{matrix::Eulerf(M_PI_F, 0.0f, 0.0f)};
|
||||
matrix::Vector3f _current_position_uwb_init;
|
||||
matrix::Vector3f _current_position_ned;
|
||||
matrix::Vector3f _uwb_init_offset_v3f;
|
||||
|
||||
perf_counter_t _read_count_perf;
|
||||
perf_counter_t _read_err_perf;
|
||||
};
|
||||
|
||||
#endif //PX4_RDDRONE_H
|
||||
|
|
@ -100,58 +100,21 @@ void LandingTargetEstimator::update()
|
|||
}
|
||||
}
|
||||
|
||||
if (!_new_irlockReport) {
|
||||
if (!_new_sensorReport) {
|
||||
// nothing to do
|
||||
return;
|
||||
}
|
||||
|
||||
// mark this sensor measurement as consumed
|
||||
_new_irlockReport = false;
|
||||
_new_sensorReport = false;
|
||||
|
||||
if (!_vehicleAttitude_valid || !_vehicleLocalPosition_valid || !_vehicleLocalPosition.dist_bottom_valid) {
|
||||
// don't have the data needed for an update
|
||||
return;
|
||||
}
|
||||
|
||||
if (!PX4_ISFINITE(_irlockReport.pos_y) || !PX4_ISFINITE(_irlockReport.pos_x)) {
|
||||
return;
|
||||
}
|
||||
|
||||
matrix::Vector<float, 3> sensor_ray; // ray pointing towards target in body frame
|
||||
sensor_ray(0) = _irlockReport.pos_x * _params.scale_x; // forward
|
||||
sensor_ray(1) = _irlockReport.pos_y * _params.scale_y; // right
|
||||
sensor_ray(2) = 1.0f;
|
||||
|
||||
// rotate unit ray according to sensor orientation
|
||||
_S_att = get_rot_matrix(_params.sensor_yaw);
|
||||
sensor_ray = _S_att * sensor_ray;
|
||||
|
||||
// rotate the unit ray into the navigation frame
|
||||
matrix::Quaternion<float> q_att(&_vehicleAttitude.q[0]);
|
||||
_R_att = matrix::Dcm<float>(q_att);
|
||||
sensor_ray = _R_att * sensor_ray;
|
||||
|
||||
if (fabsf(sensor_ray(2)) < 1e-6f) {
|
||||
// z component of measurement unsafe, don't use this measurement
|
||||
return;
|
||||
}
|
||||
|
||||
float dist = _vehicleLocalPosition.dist_bottom - _params.offset_z;
|
||||
|
||||
// scale the ray s.t. the z component has length of dist
|
||||
_rel_pos(0) = sensor_ray(0) / sensor_ray(2) * dist;
|
||||
_rel_pos(1) = sensor_ray(1) / sensor_ray(2) * dist;
|
||||
|
||||
// Adjust relative position according to sensor offset
|
||||
_rel_pos(0) += _params.offset_x;
|
||||
_rel_pos(1) += _params.offset_y;
|
||||
|
||||
if (!_estimator_initialized) {
|
||||
PX4_INFO("Init");
|
||||
float vx_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vx : 0.f;
|
||||
float vy_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vy : 0.f;
|
||||
_kalman_filter_x.init(_rel_pos(0), vx_init, _params.pos_unc_init, _params.vel_unc_init);
|
||||
_kalman_filter_y.init(_rel_pos(1), vy_init, _params.pos_unc_init, _params.vel_unc_init);
|
||||
PX4_INFO("Init %.2f %.2f", (double)vx_init, (double)vy_init);
|
||||
_kalman_filter_x.init(_target_position_report.rel_pos_x, vx_init, _params.pos_unc_init, _params.vel_unc_init);
|
||||
_kalman_filter_y.init(_target_position_report.rel_pos_y, vy_init, _params.pos_unc_init, _params.vel_unc_init);
|
||||
|
||||
_estimator_initialized = true;
|
||||
_last_update = hrt_absolute_time();
|
||||
|
|
@ -159,8 +122,9 @@ void LandingTargetEstimator::update()
|
|||
|
||||
} else {
|
||||
// update
|
||||
bool update_x = _kalman_filter_x.update(_rel_pos(0), _params.meas_unc * dist * dist);
|
||||
bool update_y = _kalman_filter_y.update(_rel_pos(1), _params.meas_unc * dist * dist);
|
||||
const float measurement_uncertainty = _params.meas_unc * _dist_z * _dist_z;
|
||||
bool update_x = _kalman_filter_x.update(_target_position_report.rel_pos_x, measurement_uncertainty);
|
||||
bool update_y = _kalman_filter_y.update(_target_position_report.rel_pos_y, measurement_uncertainty);
|
||||
|
||||
if (!update_x || !update_y) {
|
||||
if (!_faulty) {
|
||||
|
|
@ -175,7 +139,7 @@ void LandingTargetEstimator::update()
|
|||
if (!_faulty) {
|
||||
// only publish if both measurements were good
|
||||
|
||||
_target_pose.timestamp = _irlockReport.timestamp;
|
||||
_target_pose.timestamp = _target_position_report.timestamp;
|
||||
|
||||
float x, xvel, y, yvel, covx, covx_v, covy, covy_v;
|
||||
_kalman_filter_x.getState(x, xvel);
|
||||
|
|
@ -190,7 +154,7 @@ void LandingTargetEstimator::update()
|
|||
_target_pose.rel_vel_valid = true;
|
||||
_target_pose.x_rel = x;
|
||||
_target_pose.y_rel = y;
|
||||
_target_pose.z_rel = dist;
|
||||
_target_pose.z_rel = _target_position_report.rel_pos_z ;
|
||||
_target_pose.vx_rel = xvel;
|
||||
_target_pose.vy_rel = yvel;
|
||||
|
||||
|
|
@ -203,7 +167,7 @@ void LandingTargetEstimator::update()
|
|||
if (_vehicleLocalPosition_valid && _vehicleLocalPosition.xy_valid) {
|
||||
_target_pose.x_abs = x + _vehicleLocalPosition.x;
|
||||
_target_pose.y_abs = y + _vehicleLocalPosition.y;
|
||||
_target_pose.z_abs = dist + _vehicleLocalPosition.z;
|
||||
_target_pose.z_abs = _target_position_report.rel_pos_z + _vehicleLocalPosition.z;
|
||||
_target_pose.abs_pos_valid = true;
|
||||
|
||||
} else {
|
||||
|
|
@ -220,7 +184,7 @@ void LandingTargetEstimator::update()
|
|||
_kalman_filter_x.getInnovations(innov_x, innov_cov_x);
|
||||
_kalman_filter_y.getInnovations(innov_y, innov_cov_y);
|
||||
|
||||
_target_innovations.timestamp = _irlockReport.timestamp;
|
||||
_target_innovations.timestamp = _target_position_report.timestamp;
|
||||
_target_innovations.innov_x = innov_x;
|
||||
_target_innovations.innov_cov_x = innov_cov_x;
|
||||
_target_innovations.innov_y = innov_y;
|
||||
|
|
@ -246,7 +210,76 @@ void LandingTargetEstimator::_update_topics()
|
|||
_vehicleAttitude_valid = _attitudeSub.update(&_vehicleAttitude);
|
||||
_vehicle_acceleration_valid = _vehicle_acceleration_sub.update(&_vehicle_acceleration);
|
||||
|
||||
_new_irlockReport = _irlockReportSub.update(&_irlockReport);
|
||||
|
||||
if (_irlockReportSub.update(&_irlockReport)) { //
|
||||
_new_irlockReport = true;
|
||||
|
||||
if (!_vehicleAttitude_valid || !_vehicleLocalPosition_valid || !_vehicleLocalPosition.dist_bottom_valid) {
|
||||
// don't have the data needed for an update
|
||||
return;
|
||||
}
|
||||
|
||||
if (!PX4_ISFINITE(_irlockReport.pos_y) || !PX4_ISFINITE(_irlockReport.pos_x)) {
|
||||
return;
|
||||
}
|
||||
|
||||
matrix::Vector<float, 3> sensor_ray; // ray pointing towards target in body frame
|
||||
sensor_ray(0) = _irlockReport.pos_x * _params.scale_x; // forward
|
||||
sensor_ray(1) = _irlockReport.pos_y * _params.scale_y; // right
|
||||
sensor_ray(2) = 1.0f;
|
||||
|
||||
// rotate unit ray according to sensor orientation
|
||||
_S_att = get_rot_matrix(_params.sensor_yaw);
|
||||
sensor_ray = _S_att * sensor_ray;
|
||||
|
||||
// rotate the unit ray into the navigation frame
|
||||
matrix::Quaternion<float> q_att(&_vehicleAttitude.q[0]);
|
||||
_R_att = matrix::Dcm<float>(q_att);
|
||||
sensor_ray = _R_att * sensor_ray;
|
||||
|
||||
if (fabsf(sensor_ray(2)) < 1e-6f) {
|
||||
// z component of measurement unsafe, don't use this measurement
|
||||
return;
|
||||
}
|
||||
|
||||
_dist_z = _vehicleLocalPosition.dist_bottom - _params.offset_z;
|
||||
|
||||
// scale the ray s.t. the z component has length of _uncertainty_scale
|
||||
_target_position_report.timestamp = _irlockReport.timestamp;
|
||||
_target_position_report.rel_pos_x = sensor_ray(0) / sensor_ray(2) * _dist_z;
|
||||
_target_position_report.rel_pos_y = sensor_ray(1) / sensor_ray(2) * _dist_z;
|
||||
_target_position_report.rel_pos_z = _dist_z;
|
||||
|
||||
// Adjust relative position according to sensor offset
|
||||
_target_position_report.rel_pos_x += _params.offset_x;
|
||||
_target_position_report.rel_pos_y += _params.offset_y;
|
||||
|
||||
_new_sensorReport = true;
|
||||
|
||||
} else if (_uwbDistanceSub.update(&_uwbDistance)) {
|
||||
if (!_vehicleAttitude_valid || !_vehicleLocalPosition_valid) {
|
||||
// don't have the data needed for an update
|
||||
PX4_INFO("Attitude: %d, Local pos: %d", _vehicleAttitude_valid, _vehicleLocalPosition_valid);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!PX4_ISFINITE((float)_uwbDistance.position[0]) || !PX4_ISFINITE((float)_uwbDistance.position[1]) ||
|
||||
!PX4_ISFINITE((float)_uwbDistance.position[2])) {
|
||||
PX4_WARN("Position is corrupt!");
|
||||
return;
|
||||
}
|
||||
|
||||
_new_sensorReport = true;
|
||||
|
||||
// The coordinate system is NED (north-east-down)
|
||||
// the uwb_distance msg contains the Position in NED, Vehicle relative to LP
|
||||
// The coordinates "rel_pos_*" are the position of the landing point relative to the vehicle.
|
||||
// To change POV we negate every Axis:
|
||||
_target_position_report.timestamp = _uwbDistance.timestamp;
|
||||
_target_position_report.rel_pos_x = -_uwbDistance.position[0];
|
||||
_target_position_report.rel_pos_y = -_uwbDistance.position[1];
|
||||
_target_position_report.rel_pos_z = -_uwbDistance.position[2];
|
||||
}
|
||||
}
|
||||
|
||||
void LandingTargetEstimator::_update_params()
|
||||
|
|
|
|||
|
|
@ -54,6 +54,9 @@
|
|||
#include <uORB/topics/irlock_report.h>
|
||||
#include <uORB/topics/landing_target_pose.h>
|
||||
#include <uORB/topics/landing_target_innovations.h>
|
||||
#include <uORB/topics/uwb_distance.h>
|
||||
#include <uORB/topics/uwb_grid.h>
|
||||
#include <uORB/topics/estimator_sensor_bias.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <matrix/math.hpp>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
|
@ -139,21 +142,32 @@ private:
|
|||
enum Rotation sensor_yaw;
|
||||
} _params;
|
||||
|
||||
struct {
|
||||
hrt_abstime timestamp;
|
||||
float rel_pos_x;
|
||||
float rel_pos_y;
|
||||
float rel_pos_z;
|
||||
} _target_position_report;
|
||||
|
||||
uORB::Subscription _vehicleLocalPositionSub{ORB_ID(vehicle_local_position)};
|
||||
uORB::Subscription _attitudeSub{ORB_ID(vehicle_attitude)};
|
||||
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
|
||||
uORB::Subscription _irlockReportSub{ORB_ID(irlock_report)};
|
||||
uORB::Subscription _uwbDistanceSub{ORB_ID(uwb_distance)};
|
||||
|
||||
vehicle_local_position_s _vehicleLocalPosition{};
|
||||
vehicle_attitude_s _vehicleAttitude{};
|
||||
vehicle_acceleration_s _vehicle_acceleration{};
|
||||
irlock_report_s _irlockReport{};
|
||||
uwb_grid_s _uwbGrid{};
|
||||
uwb_distance_s _uwbDistance{};
|
||||
|
||||
// keep track of which topics we have received
|
||||
bool _vehicleLocalPosition_valid{false};
|
||||
bool _vehicleAttitude_valid{false};
|
||||
bool _vehicle_acceleration_valid{false};
|
||||
bool _new_irlockReport{false};
|
||||
bool _new_sensorReport{false};
|
||||
bool _estimator_initialized{false};
|
||||
// keep track of whether last measurement was rejected
|
||||
bool _faulty{false};
|
||||
|
|
@ -165,11 +179,10 @@ private:
|
|||
KalmanFilter _kalman_filter_y;
|
||||
hrt_abstime _last_predict{0}; // timestamp of last filter prediction
|
||||
hrt_abstime _last_update{0}; // timestamp of last filter update (used to check timeout)
|
||||
float _dist_z{1.0f};
|
||||
|
||||
void _check_params(const bool force);
|
||||
|
||||
void _update_state();
|
||||
};
|
||||
|
||||
|
||||
} // namespace landing_target_estimator
|
||||
|
|
|
|||
|
|
@ -98,7 +98,7 @@ int landing_target_estimator_main(int argc, char *argv[])
|
|||
daemon_task = px4_task_spawn_cmd("landing_target_estimator",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2000,
|
||||
2100,
|
||||
landing_target_estimator_thread_main,
|
||||
(argv) ? (char *const *)&argv[2] : nullptr);
|
||||
return 0;
|
||||
|
|
|
|||
|
|
@ -256,21 +256,13 @@ PrecLand::run_state_horizontal_approach()
|
|||
if (hrt_absolute_time() - _point_reached_time > 2000000) {
|
||||
// if close enough for descent above target go to descend above target
|
||||
if (switch_to_state_descend_above_target()) {
|
||||
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (hrt_absolute_time() - _state_start_time > STATE_TIMEOUT) {
|
||||
PX4_ERR("Precision landing took too long during horizontal approach phase.");
|
||||
|
||||
if (switch_to_state_fallback()) {
|
||||
return;
|
||||
}
|
||||
|
||||
PX4_ERR("Can't switch to fallback landing");
|
||||
}
|
||||
|
||||
float x = _target_pose.x_abs;
|
||||
float y = _target_pose.y_abs;
|
||||
|
|
@ -388,6 +380,7 @@ bool
|
|||
PrecLand::switch_to_state_horizontal_approach()
|
||||
{
|
||||
if (check_state_conditions(PrecLandState::HorizontalApproach)) {
|
||||
PX4_INFO("Precland: switching to horizontal approach!");
|
||||
_approach_alt = _navigator->get_global_position()->alt;
|
||||
|
||||
_point_reached_time = 0;
|
||||
|
|
@ -404,6 +397,7 @@ bool
|
|||
PrecLand::switch_to_state_descend_above_target()
|
||||
{
|
||||
if (check_state_conditions(PrecLandState::DescendAboveTarget)) {
|
||||
PX4_INFO("Precland: switching to descend!");
|
||||
_state = PrecLandState::DescendAboveTarget;
|
||||
_state_start_time = hrt_absolute_time();
|
||||
return true;
|
||||
|
|
@ -416,6 +410,7 @@ bool
|
|||
PrecLand::switch_to_state_final_approach()
|
||||
{
|
||||
if (check_state_conditions(PrecLandState::FinalApproach)) {
|
||||
PX4_INFO("Precland: switching ot final approach");
|
||||
_state = PrecLandState::FinalApproach;
|
||||
_state_start_time = hrt_absolute_time();
|
||||
return true;
|
||||
|
|
|
|||
Loading…
Reference in New Issue