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Support for NXP UWB position sensor

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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
2022-04-04 14:03:44 +02:00
committed by alessandro
parent 3381a5914d
commit 457130fb69
16 changed files with 1214 additions and 62 deletions
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msg/CMakeLists.txt
+2
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@@ -170,6 +170,8 @@ set(msg_files
uavcan_parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
uwb_grid.msg
uwb_distance.msg
vehicle_acceleration.msg
vehicle_air_data.msg
vehicle_angular_acceleration.msg
msg/uwb_distance.msg
+15
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@@ -0,0 +1,15 @@
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.
uint64 timestamp # time since system start (microseconds)
uint32 time_uwb_ms # Time of UWB device in ms
uint32 counter # Number of Ranges since last Start of Ranging
uint32 sessionid # UWB SessionID
uint32 time_offset # Time between Ranging Rounds in ms
uint16 status # status feedback #
uint16[12] anchor_distance # distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)
bool[12] nlos # Visual line of sight yes/no
float32[12] aoafirst # Angle of arrival of first incomming RX msg
float32[3] position # Position of the Landing point in relation to the Drone (x,y,z in Meters NED)
msg/uwb_grid.msg
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# UWB report message contains the grid information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.
uint64 timestamp # time since system start (microseconds)
uint16 initator_time # time to synchronize clocks (microseconds)
uint8 num_anchors # Number of anchors
float64[4] target_gps # GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
# Grid position information
# Position in x,y,z in (x,y,z in centimeters NED)
# staring with POI and Anchor 0 up to Anchor 11
int16[3] target_pos # Point of Interest, mostly landing Target x,y,z
int16[3] anchor_pos_0
int16[3] anchor_pos_1
int16[3] anchor_pos_2
int16[3] anchor_pos_3
int16[3] anchor_pos_4
int16[3] anchor_pos_5
int16[3] anchor_pos_6
int16[3] anchor_pos_7
int16[3] anchor_pos_8
int16[3] anchor_pos_9
int16[3] anchor_pos_10
int16[3] anchor_pos_11