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90 lines
3.1 KiB
YAML
90 lines
3.1 KiB
YAML
module_name: Ultrawideband position sensor driver
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serial_config:
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- command: uwb_sr150 start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
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port_config_param:
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name: UWB_PORT_CFG
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group: UWB
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parameters:
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- group: UWB
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definitions:
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UWB_INIT_OFF_X:
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description:
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short: UWB sensor X offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_INIT_OFF_Y:
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description:
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short: UWB sensor Y offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. Y offset.
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_INIT_OFF_Z:
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description:
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short: UWB sensor Z offset in body frame
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long: UWB sensor positioning in relation to Drone in NED. Z offset.
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type: float
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unit: m
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decimal: 2
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increment: 0.01
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default: 0.00
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UWB_SENS_ROT:
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description:
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short: UWB sensor orientation
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long: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h
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Default position is the antannaes downward facing, UWB board parallel with body frame.
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type: enum
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values:
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0: ROTATION_NONE
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1: ROTATION_YAW_45
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2: ROTATION_YAW_90
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3: ROTATION_YAW_135
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4: ROTATION_YAW_180
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5: ROTATION_YAW_225
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6: ROTATION_YAW_270
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7: ROTATION_YAW_315
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8: ROTATION_ROLL_180
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9: ROTATION_ROLL_180_YAW_45
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10: ROTATION_ROLL_180_YAW_90
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11: ROTATION_ROLL_180_YAW_135
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12: ROTATION_PITCH_180
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13: ROTATION_ROLL_180_YAW_225
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14: ROTATION_ROLL_180_YAW_270
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15: ROTATION_ROLL_180_YAW_315
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16: ROTATION_ROLL_90
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17: ROTATION_ROLL_90_YAW_45
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18: ROTATION_ROLL_90_YAW_90
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19: ROTATION_ROLL_90_YAW_135
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20: ROTATION_ROLL_270
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21: ROTATION_ROLL_270_YAW_45
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22: ROTATION_ROLL_270_YAW_90
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23: ROTATION_ROLL_270_YAW_135
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24: ROTATION_PITCH_90
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25: ROTATION_PITCH_270
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26: ROTATION_PITCH_180_YAW_90
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27: ROTATION_PITCH_180_YAW_270
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28: ROTATION_ROLL_90_PITCH_90
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29: ROTATION_ROLL_180_PITCH_90
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30: ROTATION_ROLL_270_PITCH_90
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31: ROTATION_ROLL_90_PITCH_180
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32: ROTATION_ROLL_270_PITCH_180
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33: ROTATION_ROLL_90_PITCH_270
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34: ROTATION_ROLL_180_PITCH_270
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35: ROTATION_ROLL_270_PITCH_270
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36: ROTATION_ROLL_90_PITCH_180_YAW_90
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37: ROTATION_ROLL_90_YAW_270
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38: ROTATION_ROLL_90_PITCH_68_YAW_293
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39: ROTATION_PITCH_315
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40: ROTATION_ROLL_90_PITCH_315
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default: 0
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