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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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src/modules/navigator/precland.cpp
+4 -9
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@@ -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;