Add support for NXP UWB position sensor #12956

AmeliaEScott · 2019-09-13T14:26:16Z

Describe problem solved by the proposed pull request
Based on #9029. This PR adds a driver for the NXP RDDrone UWB system, and integrates it with the existing precision landing code.

Test data / coverage
I held the sensor in my hands, spun around in my chair, and looked at the logs.

This is a WIP, I have not tested much.

AmeliaEScott · 2019-09-13T14:28:19Z

@dk7xe This is still in the early stages, but here it is if you want to keep up with development. Right now it is reading the data and publishing a uORB topic, but I still need to add error checking and generally clean up the code.

hamishwillee · 2019-09-16T01:16:40Z

@ItsTimmy Have you thought about docs for this? Possible integration points:

Module documentation would be nice http://dev.px4.io/master/en/middleware/modules_main.html
Precision landing: https://docs.px4.io/master/en/advanced_features/precland.html
Peripherals: https://docs.px4.io/master/en/peripherals/

julianoes · 2019-10-01T06:53:27Z

src/drivers/drv_pozyx.h

+/**
+ * @file drv_pozyx.h
+ *
+ * Pozyx device API


A reference to the exact thing would be nice. And it's not really a device API but just the driver, I would say.

julianoes · 2019-10-01T06:53:54Z

src/drivers/drv_pozyx.h

+};
+
+struct pozyx_position_s {
+	int32_t x;


julianoes · 2019-10-01T06:53:59Z

src/drivers/drv_pozyx.h

+struct pozyx_beacon_config_s {
+	uint8_t beacon_id;
+	uint8_t beacon_count;
+	int32_t x;


julianoes · 2019-10-01T06:55:12Z

src/drivers/pozyx/pozyx.cpp

+
+	/*
+	 * Stop the driver
+	 */


Unnecessary comment.

julianoes · 2019-10-01T06:56:06Z

src/drivers/pozyx/pozyx.cpp

+
+	}
+
+	PX4_WARN("unrecognized arguments, try: start [device_name], stop, info ");


Please add docs like here:
https://github.com/PX4/Firmware/blob/2989ce981cfee34f7900a67cb8d50bc5d51fc65a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp#L226-L244

julianoes · 2019-10-01T07:46:02Z

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

-	_new_irlockReport = _irlockReportSub.update(&_irlockReport);
+	_sensorBias_valid = _sensorBiasSub.update(&_sensorBias);
+
+	//TODO: Uncomment this so it still works with both IRLock and Pozyx


What's the plan here? I don't exactly understand what this is about.

julianoes · 2019-10-01T07:46:37Z

src/modules/landing_target_estimator/landing_target_estimator_params.c

@@ -132,3 +132,51 @@ PARAM_DEFINE_FLOAT(LTEST_SCALE_X, 1.0f);
 * @group Landing target Estimator
 */
 PARAM_DEFINE_FLOAT(LTEST_SCALE_Y, 1.0f);
+
+/**
+ * Landing target X offset from estimated position in NED


Body or world frame?

julianoes · 2019-10-01T07:46:54Z

src/modules/landing_target_estimator/landing_target_estimator_params.c

+ * @max 100.0
+ * @decimal 2
+ *
+ * @group Landing target Estimator


Suggested change

* @group Landing target Estimator

* @group Landing target estimator

julianoes · 2019-10-01T07:47:10Z

src/modules/logger/logger.cpp

@@ -549,6 +549,7 @@ void Logger::add_default_topics()
 	add_topic("vehicle_status", 200);
 	add_topic("vehicle_status_flags");
 	add_topic("vtol_vehicle_status", 200);
+	add_topic("pozyx_report");


This topic probably needs a more generic name.

julianoes · 2019-10-01T07:47:45Z

Tools/test_pozyx.py

+import serial
+import struct
+import time
+


Can you add a comment how this script can be used, and to do what?

dagar · 2019-10-17T16:54:19Z

src/drivers/pozyx/pozyx.cpp

+
+#include <uORB/topics/pozyx_report.h>
+
+#define DEFAULT_PORT		"/dev/ttyS2"	// telem2 on Pixhawk


I wouldn't provide a default at all. There isn't a consistent choice across boards, so just make it a requirement and use the module.yaml to make it easy to configure and start on any port.

dagar · 2019-10-17T16:55:24Z

src/drivers/drv_pozyx.h

+ ****************************************************************************/
+
+/**
+ * @file drv_pozyx.h


We should be able to move away from block devices like this (/dev/pozyx) and entirely use ORB. It's ultimately going to be more portable.

dagar · 2019-10-17T16:57:46Z

I'm just curious, in the pozyx case has anyone looked into doing it directly without the arduino sketch?

AmeliaEScott · 2019-10-24T09:55:16Z

@dagar I don't know, I have not actually worked with Pozyx at all. All of that work was done by @cmic0 . In fact, it might be best to split that driver into a separate PR, because it is not necessary for getting the NXP driver working.

ShiauweiZhao · 2019-11-25T01:32:23Z

Have you started to develop UWB fusion for indoor positioning？

AmeliaEScott · 2019-11-28T08:55:34Z

I have not. The goal of this PR is to use the UWB positioning only within the existing precision landing framework. However, once this is done, it should be easy to get the raw data from UWB and use it however you want.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

julianoes · 2020-01-24T10:15:27Z

msg/uwb_report.msg

-#float32 yaw_offset  # Angle between the X axis of the UWB grid frame and true north. I.e., your compass heading if you face along the positive X axis
+# The reason these values are kept in the uwb_report message is that we do not know the transform between the
+# UWB coordinate system and the world coordinate system. Different UWB systems might have different mechanisms for
+# this, so the UWB driver should handle it. Unless you


Unless you?

julianoes · 2020-01-24T10:16:07Z

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

@@ -279,22 +279,24 @@ void LandingTargetEstimator::_update_topics()
 			return;
 		}

-		if (!PX4_ISFINITE(_uwbReport.pos_y) || !PX4_ISFINITE(_uwbReport.pos_x) ||
-		    !PX4_ISFINITE(_uwbReport.pos_z)) {
+		if (!PX4_ISFINITE(_uwbReport.target_pos_y) || !PX4_ISFINITE(_uwbReport.target_pos_x) ||


Why is y before x?

new Uorb Topics Changed Distance message according to new process

stale · 2020-05-30T06:48:49Z

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

weekly-digest bot mentioned this pull request Sep 15, 2019

Weekly Digest (8 September, 2019 - 15 September, 2019) #12959

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weekly-digest bot mentioned this pull request Sep 22, 2019

Weekly Digest (15 September, 2019 - 22 September, 2019) #13002

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julianoes self-requested a review September 25, 2019 09:05

weekly-digest bot mentioned this pull request Sep 29, 2019

Weekly Digest (22 September, 2019 - 29 September, 2019) #13050

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julianoes reviewed Oct 1, 2019

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This was referenced Oct 6, 2019

Weekly Digest (29 September, 2019 - 6 October, 2019) #13096

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Weekly Digest (6 October, 2019 - 13 October, 2019) #13171

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AmeliaEScott mentioned this pull request Oct 17, 2019

WIP: Pozyx addition to precision landing #9029

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weekly-digest bot mentioned this pull request Oct 20, 2019

Weekly Digest (13 October, 2019 - 20 October, 2019) #13236

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AmeliaEScott force-pushed the pr-nxp-uwb-driver branch 2 times, most recently from 21f6116 to 7124af6 Compare October 24, 2019 11:05

AmeliaEScott force-pushed the pr-nxp-uwb-driver branch from 24bcbaa to ea2c8f3 Compare November 21, 2019 11:34

LowOrbitIonCannon mentioned this pull request Dec 9, 2019

NXP FMUK66- Telemetry 1 Port not working correctly. #13703

Open

Timothy Scott and others added 9 commits December 12, 2019 10:24

Created basic NXP UWB driver

1f3aca5

Added pozyx driver based on upstream.

eb1c1fd

Added pozyx. Fixed hardfaults (increased pozyx stack allocation).

9a22db0

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Addedd pozyx_report to logger. Added debug messages.

392d5e6

Signed-off-by: Claudio Micheli <claudio@auterion.com>

removed debug comments.

1cc3d0d

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Removed deprecated dependency in CMakeLists.txt.

fc8bc84

Signed-off-by: Claudio Micheli <claudio@auterion.com>

Topic publishing

3dc736c

Added basic bounds checking

6dece35

Code cleanup and documentation

6c1502f

Timothy Scott added 12 commits December 12, 2019 10:24

Removed baudrate option

0356d6f

Added message ID for pozyx_report message

2572824

Some debugging

2e56eb0

Squash this commit in the rebase

30a3ad0

Squash this commit too

f5fc125

Removed landing point adjustment

525c22c

Added comment for future reference

0815ecc

Added UWB driver to NXP board

2317a63

Added configurable baudrate

8e103ae

Gave better names to pozyx_report message and UWB driver

2d1c48b

Removed Pozyx driver (to be moved to another PR)

e529840

Fixed problem from rebase

030a844

AmeliaEScott force-pushed the pr-nxp-uwb-driver branch from ea2c8f3 to 030a844 Compare December 12, 2019 09:28

Timothy Scott added 2 commits January 17, 2020 16:21

Fixed landing target pose issue

2f71076

Added important stuff to startup script. Delete this before merging

868960c

julianoes reviewed Jan 24, 2020

View reviewed changes

LowOrbitIonCannon added 2 commits February 18, 2020 15:57

Add support for new UWB MSG and Raw Distances.

1ccbf2f

Fixed Typo

c6b415d

weekly-digest bot mentioned this pull request Feb 23, 2020

Weekly Digest (16 February, 2020 - 23 February, 2020) #14213

Closed

Phase 1 new Loc process

efcf518

new Uorb Topics Changed Distance message according to new process

weekly-digest bot mentioned this pull request Mar 1, 2020

Weekly Digest (23 February, 2020 - 1 March, 2020) #14268

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LowOrbitIonCannon mentioned this pull request Mar 25, 2020

Add support for NXP UWB position sensor Take 2 #14474

Merged

stale bot added the stale label May 30, 2020

LorenzMeier closed this Jan 10, 2021

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Add support for NXP UWB position sensor #12956

Add support for NXP UWB position sensor #12956

AmeliaEScott commented Sep 13, 2019

AmeliaEScott commented Sep 13, 2019

hamishwillee commented Sep 16, 2019

julianoes Oct 1, 2019

julianoes Oct 1, 2019

julianoes Oct 1, 2019

julianoes Oct 1, 2019

julianoes Oct 1, 2019

julianoes Oct 1, 2019

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dagar Oct 17, 2019

dagar Oct 17, 2019

dagar commented Oct 17, 2019

AmeliaEScott commented Oct 24, 2019

ShiauweiZhao commented Nov 25, 2019

AmeliaEScott commented Nov 28, 2019

julianoes Jan 24, 2020

julianoes Jan 24, 2020

stale bot commented May 30, 2020


		}

		PX4_WARN("unrecognized arguments, try: start [device_name], stop, info ");

	* @group Landing target Estimator
	* @group Landing target estimator


		#include <uORB/topics/pozyx_report.h>

		#define DEFAULT_PORT "/dev/ttyS2" // telem2 on Pixhawk

Add support for NXP UWB position sensor #12956

Add support for NXP UWB position sensor #12956

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AmeliaEScott commented Sep 13, 2019

AmeliaEScott commented Sep 13, 2019

hamishwillee commented Sep 16, 2019

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dagar commented Oct 17, 2019

AmeliaEScott commented Oct 24, 2019

ShiauweiZhao commented Nov 25, 2019

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stale bot commented May 30, 2020