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a46125b1354d41c6e9f3aea89b4ac25c878c6b54
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16 Commits
Author SHA1 Message Date
Andrew BrahimandClaudio Chies a46125b135 SF45 revert missing bin logic (#25173) 
* revert missing bin logic

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

* removed else and initialized at variable declaration

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

---------

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>
 2025-08-13 08:46:52 -04:00
Andrew Brahim 5cb3fd1c9f remove tel2 default from sf45 (#24602) 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-03-25 10:10:39 -08:00
mahimayoga 69d95a6664 sf45: separate sensor yaw variable into FRD and sensor frames for clarity. 
Obstacle map is created in sensor frame, but scaling for vehicle orientation is done in vehicle FRD frame.
 2025-02-07 13:28:17 +01:00
mahimayoga 093b379b6b sf45/collision-prevention: replace repeated code with ObstacleMath library functions. 2025-02-07 13:28:17 +01:00
mahimayoga 48c0992a7d sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data. 
yaw_cfg is now read into the obstacle_distance message as the angle_offset. The offset is computed once at init and applied to each measurement.
 2025-02-03 17:17:35 +01:00
mahimayoga 31bff3e5bb sf45: change handle_missed_bins() function logic. 
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.
 2025-02-03 17:17:35 +01:00
mahimayoga 65a8cc0e0a sf45: scale measured distance with pitch and roll. 
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.
 2025-01-20 11:11:29 +01:00
Claudio Chies 051ced0fee SENS: RNG: SF45: Added timeout to sensor measurements, to compensate the lower loop time of CollisionPrevention 2024-12-16 10:49:13 +01:00
Alexander Lerach f34b22907c SENS: RNG: SF45:Fix startup problems, increase frequency, robust parser, use nonblocking reads 2024-12-16 10:49:13 +01:00
Alexander Lerach 88d771e3e5 SENS: RNG: SF45: Fixed sf45 parser, added general checks to avoid potential out-of-bound access 2024-12-16 10:49:13 +01:00
Claudio Chies 1718b37fe4 SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design. 
other minor improvements
 2024-12-16 10:49:13 +01:00
Andrew Brahim b41811b145 SF45 fixes to restart the state machine if sensor does not init correctly (#23565) 
* 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>

---------

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-09-23 16:35:35 +02:00
dirksavage88 6a3e57d428 Shift vertical orientation above scaling yaw operation, cp angle sign change 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-04-24 15:58:12 -04:00
dirksavage88 0f6f4c5b07 fix to orientation offsets for scaled yaw, removed unused param 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2024-04-24 15:58:12 -04:00
Andrew Brahim 71c746b9bf drivers/distance_sensor/lightware_sf45_serial: fix path to crc lib (no longer in systemlib) 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2023-03-17 09:35:46 -04:00
Andrew Brahim 184c7fe79d drivers/distance_sensor: Lightware Lidar SF45/B rotating sensor serial driver (#19891) 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2023-03-01 16:16:25 -05:00