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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 17:26:52 +02:00
committed by alessandro
parent 3381a5914d
commit 457130fb69
16 changed files with 1214 additions and 62 deletions
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msg/uwb_distance.msg
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# 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)