* lightware_grf_serial: disable flow control
This might fix serial comms with the Lightware sensor.
* update sf45 to disable hw flow control
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: dirksavage88 <dirksavage88@gmail.com>
* Creating a base for grf lidar
* Serial Drive is working, need to work out distance publish
* WIP Getting Range Data in cm
* Working Rand Distance Values for GRF 250 and GRF500
* Review Changes
* Compiler fixes
* Update to date
* small update
* Fix typo and remover unused libs
* removing unused enum
* Update to the Documentation
* Fiving scaling issue
* update to the logic
* [Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425)
* Adding the GRF I2C driver
* I2C Driver Working
* Removing a lot of unnecessary code
* fixing names
* Changing the i2c Driver to be in the lightware laser
* remove the old driver
* formatting fix
* Adding Ligthware GRF to documentation
* Update to the Documentation
* Ensuring sample_perf ends
* Updating Docs
* uavcannode: implement hardpoint commands (#26334)
* implement cannode hardpoint commands
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update src/drivers/uavcannode/Subscribers/HardpointCommand.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* add hardpoint sub to ark cannode, simplify handling of hardpoint broadcast
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* voxl_esc: Limit frequency of UART passthru writes to 20Hz
* voxl2_io: Added UART passthru
* docs: update link for px4 ros2 interface lib python api docs
* estimator_interface: remove unused getter
* gnss_checks: always run strict checks on ground
With the goal to never take off if the GNSS solution is not fullfilling the configured requirements still not stopping to use it in case it degrades mid air.
* ekf2 unit-tests: adapt to strict GNSS checks on ground
* escCheck: rework online check to properly report offline ESCs
previous to this
09d79b221f
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.
So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
* FailureDetector: consistent timestamp naming
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Update src/modules/commander/failure_detector/FailureDetector.cpp
Prevent Buffer overflow
* Update Format
* Subedit
* Shrink and rename image
* Apply suggestion from @hamishwillee
Sounds good
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Apply suggestion from @hamishwillee
More universal approach
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Update to the Documentation
* FailureDetector: rework motor status check
* FailureDetector: implement upper and lower current limit with offset
* Subedit
* docs: update parameter reference metadata
* Remove pregenerated files - that should all be tidied up next time this runs
* remover GRF parameters
* Documentation updates
* Fixing Merge Conflicts
* remove @
* Undo Changes to parameter_reference
* remove the code that will be autogen-ed
* Update the Camake File
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
Co-authored-by: Nick <145654544+ttechnick@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* Adding the GRF I2C driver
* I2C Driver Working
* Removing a lot of unnecessary code
* fixing names
* Changing the i2c Driver to be in the lightware laser
* remove the old driver
* formatting fix
* Adding Ligthware GRF to documentation
Using the SF30/d with the legacy protocol caused a delay of the
measurements of ~1s. This is not the case with the binary protocol anymore.
The initialization sequence used for SF20/c did not work and is therefore
updated.
Tested on both SF20/c and SF30/d.
* always reschedule from measurementReadyCallback, don't update range mode is processMeasurement fails, reschedule trigger faster if Argus_TriggerMeasurement fails, refactor mode switching logic, update perf counters
* make format
* make format exclude microstrain submodule
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Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* [ulanding_radar] Fix comms error perf counter usage
* [ulanding_radar] Workaround for lost messages by lowering sampling rate
The current implementation of the Aerotenna uLanding radar driver assumes that
the UART frames are received in full. If the driver polls with 10ms this is not
always the case and the driver will fail to parse the frame leading to
significant packet loss. This workaround polls at 12ms which ensures that at
least one entire frame is received.
To simplify logic for wrap-around cases and cases in which bins outside the FOV may be filled. Bin indices are offset such that the 0th bin is the first bin within the sensor FOV. This way we can always fill bins from smallest to largest index.
Calls function from ObstacleMath library that accounts for the vehicle's attitude w.r.t the obstacle. Obstacles are assumed to be flat, vertical walls.
* fixes to restart the state machine if sensor does not init correctly
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* fixes
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* increase fail count
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* remove extra flush, switch from warn to debug, add enum states for sensor bring-up
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Jacob Dahl