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351 Commits
Author SHA1 Message Date
Aaron1356 a5a7dd802c [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
 2026-02-06 15:26:13 -05:00
Baardrw c9e3118fea Driver: fix mb12xx driver set address feature (#26282) 
* fixed set_address function
 2026-01-22 00:45:45 -05:00
dirksavage88 b64860f9f8 consolidated into update method; use default value in declaration 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-12-17 17:12:12 +01:00
dirksavage88 e51d09612f vl53l1x quaternion example 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-12-17 17:12:12 +01:00
Beat Küng a5c4cc38ac lightware_laser_i2c: add binary protocol support for SF30/d (#25570) 
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.
 2025-09-24 16:17:25 -04:00
Silvan Fuhrer e6f60ef403 Sensors: remove some distance sensors from COMMON_DISTANCE_SENSOR again (#25522) 
* distance sensors common: remove DISTANCE_SENSOR_TERARANGER

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* distance sensors common: remove DISTANCE_SENSOR_CM8JL65

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-09-04 09:28:37 -08:00
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
Alex KlimajandJacob Dahl eef01b1b9a AFBR scheduling fix (#25397) 
* 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

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2025-08-08 10:50:05 -08:00
Jacob Dahl 79f6b84190 add check for DFMMode after setting it 2025-07-10 11:18:54 -06:00
Jacob Dahl abf53826b5 add warning about afbr spi comms 2025-07-10 11:18:54 -06:00
Jacob Dahl 864eeb2bd3 switch measurement trigger scheduling 2025-07-10 11:18:54 -06:00
Hamish Willee 77d854b045 Update ll40ls.cpp (#25007) 2025-06-12 16:08:12 -08:00
Jacob DahlandAlex Klimaj fae563b35e [bug] AFBRS50 fix scheduling and refactor (#24837) 
* fix scheduling bug for afbrs50

* cleanup and refactor

* format

* clean up

---------

Co-authored-by: Alex Klimaj <alex@arkelectron.com>
 2025-06-12 16:59:02 -06:00
Niklas Hauser effb9dee11 [tfmini] Configure range and FoV via parameters 2025-04-24 14:51:46 +02:00
Andrew Brahim 5cb3fd1c9f remove tel2 default from sf45 (#24602) 
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
 2025-03-25 10:10:39 -08:00
Silvan Fuhrer 7cb6464cfb VehicleStatus.msg: remove VEHICLE_TYPE_UNKNOWN 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2025-03-04 12:15:01 +00:00
Niklas Hauser 336d055923 Robustify Ulanding Radar (#24333) 
* [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.
 2025-02-28 11:14:32 -09:00
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
Silvan Fuhrer 44b423f48d drivers: ulanding: description: fix link to user guide section (#24189) 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-01-09 08:54:58 +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
Silvan Fuhrer 896c08bd68 COMMON_DISTANCE_SENSOR: remove srf02 from the list 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-13 11:40:59 +01:00
Silvan Fuhrer f4b5d8e3d8 COMMON_DISTANCE_SENSOR: remove gy_us42 from the list 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-13 11:40:59 +01:00
Silvan Fuhrer 0b4b794de7 COMMON_DISTANCE_SENSOR: remove leddar_one from the list 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-12-13 11:40:59 +01:00
Matthias Grob d5c9ea048e LidarLitePWM: refactor static cast and comment 2024-12-12 13:50:17 +01:00
Claudio Chies 04b6412731 fixed the Parameter value so it corresponds to the DistanceSensor rotation enum 2024-11-06 16:22:11 +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
BazookaJoe1900 4d83badba1 fix files tags on the header comments (#23564) 2024-09-19 09:25:18 +03:00
Konrad 82a7d0410c DistanceSensorModeChangeRequest: renaming of variable 2024-09-16 09:11:23 +02:00
Konrad e6f07bde2a lightware_laser: add option to listen to system to enable/disable distance sensor 2024-09-16 09:11:23 +02:00
bresch 15e9c65a8f dist-sensor: reduce enum names 2024-09-09 15:40:40 +02:00
Konrad 80d4fad624 DistanceSensorCheck: do not raise a distance sensor failure if the SFXX_MODE is set to 2 and we are in a VTOL FX flight phase 2024-09-03 15:53:09 +02:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Jacob Dahl 2515b8fc63 kconfig: common_distance_sensor: remove MB12XX 2024-06-17 12:01:13 -04:00
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
alexklimaj 528ad1e87d boards: ARK Pi6X Initial Commit 2024-04-12 14:44:01 -04:00
Jacob Dahl 8a8f481c29 remove PGA460 from COMMON_DISTANCE_SENSOR 2024-04-12 14:43:20 -04:00
alexklimaj cc11e1fbbf drivers: broadcom AFBR fix close to ground false readings 2024-04-10 11:47:04 -04:00
alexklimaj b81ad8841e drivers: broadcom AFBR update to API 1.5.6 2024-03-09 16:40:59 -05:00
Matthias Grob b355c16141 Lanbao driver: correct rangefinder type to IR 2024-02-09 06:19:12 +01:00
Niklas Hauser c769fc7785 SF1xx: optionally disable sensor in forward flight 2023-12-13 09:02:26 +01:00
Daniel Agar f703f07399 drivers/distance_sensor: update kconfig common sensors 
- mappydot is EOL
 - LL40LS_PWM is a fairly special case that's not common
 2023-12-08 13:32:23 -05:00
Matthias Grob 1c25d65a1e Add missing newline at the end of files 2023-12-01 13:11:00 -05:00