Support LeddarOne lidar #8409

zehortigoza · 2017-12-04T21:54:25Z

https://leddartech.com/modules/leddarone/

Here 2 videos showing the performance of this lidar in Aero:

Holding position: https://www.youtube.com/watch?v=p9aTtwIk2-U
Moving: https://www.youtube.com/watch?v=sMrkOJoF-jM

Flight log of the 2 videos: https://logs.px4.io/plot_app?log=78479503-532f-403a-b47b-c474054b746c

hamishwillee · 2017-12-04T22:15:54Z

@zehortigoza Can we add something for this in the docs?

Specifically Rangefinders should have an entry explaining what the rangefinder offers and how to enable it.

IF this won't be in any configurations and requires specific extra work to get going it might be worth creating a separate page below rangefinders as well (like this one for ulanding). That would cover where/how you add the driver, how you make sure it is started, any additional configuration.

Thoughts?

zehortigoza · 2017-12-04T22:24:49Z

@hamishwillee Sure I will send a PR adding it to the documentation. I'm enabling it for AeroFC at least but I will also add instructions of how enable it for other boards.

hamishwillee · 2017-12-04T22:38:28Z

Thank you very much!

LorenzMeier · 2017-12-04T22:59:35Z

@zehortigoza Are these default tuning gains?

zehortigoza · 2017-12-04T23:03:24Z

@LorenzMeier You mean the tuning parameter in LeddarOne? Yes, I'm using the stock parameters.
Or the PX4 tunings? The PX4 are also stock.
But in this video I'm flying with PX4 stable + this patches

hamishwillee · 2017-12-05T23:45:48Z

Thanks for the docs @zehortigoza ! I have added a note up the top that this isn't in master yet: https://docs.px4.io/en/sensor/leddar_one.html
Will remove and do a final tidy/check when this is merged.

dagar · 2017-12-06T05:06:05Z

src/drivers/leddar_one/CMakeLists.txt

+	MAIN leddar_one
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+		-Os


Optimization level is already set for the build overall.

Ok, I will remove it

dagar · 2017-12-06T05:10:23Z

The parameter usage is a bit unusual (board specific and placing it within the board support). We'd probably be better off shoving the baudrate setting into the new driver itself.

Longer term I want to generalize the serial port setup. #8302

zehortigoza · 2017-12-06T18:44:31Z

The parameter usage is a bit unusual (board specific and placing it within the board support). We'd probably be better off shoving the baudrate setting into the new driver itself.

Longer term I want to generalize the serial port setup. #8302

That would be nice but it is target for 1.8v right?! Not sure if the merge window for 1.7v is still open for this.
If it is still open we could merge this as is(if the rest is in good shape for you) and then move to #8302 .
AeroFC is having some problems with Garmin Lidar(and other I2C sensors) and we would like to have that merged to recommend costumers to use this one instead.

mhkabir · 2017-12-06T19:45:45Z

What is the reason for the large, increasing timeslip in the logs?

zehortigoza · 2017-12-06T23:02:54Z

What is the reason for the large, increasing timeslip in the logs?

Huum not sure yet but a quick test showed that I have this timeslip with our without this patches.

dagar · 2017-12-11T18:33:16Z

My only issue with this is putting params in the board support, but I don't have a better suggestion at the moment.

dagar · 2017-12-11T18:39:13Z

Ok, how about this. All the other lidar units follow the same pattern of being enabled by a param and then started in rc.sensors.
https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/rc.sensors#L351
https://github.com/PX4/Firmware/blob/master/src/modules/sensors/sensor_params.c#L238

If you did this for the LeddarOne, then in the special aero mavlink handling you could either check the param, or even check if the LeddarOne is actually running.

You could then also add the leddar_one module across the board (px4fmu-v3, v4, v4pro, v5, auav-x21, mindpx).

hamishwillee · 2017-12-11T23:26:26Z

I upvote #8409 (comment)

From a user point of view it would be far more consistent to be able to say that all sensors are enabled by setting a parameter. From a "guidance to developers" point of view it would be great to have a single mandated way to make the integration work (provided that way doesn't badly limit what can be done)
Some thoughts:

We have multiple serial ports but only one parameter. How does/would PX4 know that you have a rangefinder on a particular port? (I presume this does not matter for I2C which can have multiple things on bus)
What happens if a ROM is built without the rangefinder driver but the parameter is set.
Can/should we do something about misconfiguration - multiple parameters set, when only one thing can be on the port?

dagar · 2017-12-12T00:54:11Z

@hamishwillee very good points, we can try to address some of them in #8302. For now I'm simply pushing for consistency.

LorenzMeier · 2017-12-30T21:01:16Z

Jenkins test this please

zehortigoza · 2018-01-02T18:43:29Z

Sorry for the delay I was in vacation.

Ok, how about this. All the other lidar units follow the same pattern of being enabled by a param and then started in rc.sensors.
https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/rc.sensors#L351
https://github.com/PX4/Firmware/blob/master/src/modules/sensors/sensor_params.c#L238

If you did this for the LeddarOne, then in the special aero mavlink handling you could either check the param, or even check if the LeddarOne is actually running.

You could then also add the leddar_one module across the board (px4fmu-v3, v4, v4pro, v5, auav-x21, mindpx).

I agree with the idea to add a parameter to start leddar_one driver but the idea to check if a UART lidar parameter was set to not start MAVLink sounds like a bad hack that will break easily.
The ideal would #8302 but until then for all other boards user can change SYS_COMPANION to disable MAVLink and for AeroFC user can change AEROFC_TELE_BPS. Maybe give a better name to this parameter like: AEROFC_EXT_TELE or AEROFC_TELEMETR

Let me know what you guys think so I can change/fix and rebase this.

LorenzMeier · 2018-01-14T12:06:21Z

@ChristophTobler Could you chime in here? @zehortigoza It's really hard for me to predict the tradeoffs without testing it - could you do your best guess and rebase the PR?

ChristophTobler · 2018-01-15T10:01:20Z

src/drivers/leddar_one/leddar_one.cpp

+		printf("distance: %0.3fm\n", (double)report.current_distance);
+		printf("time: %llu\n", report.timestamp);
+
+	} else {


There is no way of stopping the driver

ChristophTobler · 2018-01-15T10:02:37Z

I would also push for consistency and add a parameter to enable it

ChristophTobler · 2018-01-15T10:04:24Z

@zehortigoza Is the Aero in this video using the optical flow app that we did? It holds position nicely 👍! Did you do any other modifications except dampening?

zehortigoza · 2018-01-18T20:43:53Z

Okay I will fix and rebase it until monday.

@zehortigoza Is the Aero in this video using the optical flow app that we did? It holds position nicely 👍! Did you do any other modifications except dampening?

Yes it the aero-optical-flow.
Yep just the dampening but I guess for position hold it would work as good with the stock setup too.

hamishwillee · 2018-01-31T00:50:10Z

@zehortigoza Ping - any plan to fix and rebase?

zehortigoza · 2018-02-07T02:07:21Z

Rebased and fixed following the same approach did to Benewake TFMini.
Sorry for the delay

ChristophTobler

@zehortigoza Thanks! Generally looks good to me. Could you check the comment and fix CI:

leddar_one/leddar_one.cpp:42:24: fatal error: nuttx/arch.h: No such file or directory

ChristophTobler · 2018-02-07T07:53:11Z

src/drivers/distance_sensor/leddar_one/leddar_one.cpp

+}
+
+void
+leddar_one::stop()


I don't think this is being executed, right?

zehortigoza · 2018-02-07T18:45:19Z

@ChristophTobler Fixed almost all CI errors, there is just one now caused by lack of flash memory in px4fmu-v2, should I remove the rangesensor's from px4fmu-v2?

ChristophTobler · 2018-02-07T18:48:44Z

@zehortigoza Instead of removing all range finders we could add them individually.

ChristophTobler · 2018-02-07T20:56:13Z

@zehortigoza I wouldn't remove all of them because this might brake some people's setup. Can you add them individually? drivers/distance_sensor/ll40ls etc.

More information: https://leddartech.com/modules/leddarone/

We are running out of flash memory in px4fmu-v2 so removing all the distance sensors from binary and adding then individually. Right now only LeddarOne is not being buid.

zehortigoza · 2018-02-07T22:04:58Z

@ChristophTobler Okay fixed and now all CI tests are passing.

zehortigoza force-pushed the leddar_one branch 2 times, most recently from dd7bb45 to d55f83b Compare December 4, 2017 22:10

hamishwillee mentioned this pull request Dec 4, 2017

Add content for LeddarOne lidar PX4/PX4-user_guide#107

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zehortigoza mentioned this pull request Dec 5, 2017

Add LeddarOne lidar documentation PX4/PX4-user_guide#110

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dagar reviewed Dec 6, 2017

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zehortigoza force-pushed the leddar_one branch from d55f83b to 1cbf0ef Compare December 6, 2017 23:12

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zehortigoza force-pushed the leddar_one branch from 1cbf0ef to 41b42e3 Compare February 7, 2018 02:04

zehortigoza force-pushed the leddar_one branch from 41b42e3 to a73f5ad Compare February 7, 2018 02:20

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zehortigoza force-pushed the leddar_one branch 2 times, most recently from 3b84f15 to 0b30917 Compare February 7, 2018 18:32

zehortigoza force-pushed the leddar_one branch from 66fd912 to 0f9b03e Compare February 7, 2018 21:02

zehortigoza added 3 commits February 7, 2018 13:33

drivers: Add LeddarOne lidar driver

289779e

More information: https://leddartech.com/modules/leddarone/

ROMFS: aerofc: Do not start MAVLink in telemetry if LeddarOne is in use

659b1f8

px4fmu-v2: Build individual distance sensors

30ec4f5

We are running out of flash memory in px4fmu-v2 so removing all the distance sensors from binary and adding then individually. Right now only LeddarOne is not being buid.

zehortigoza force-pushed the leddar_one branch from 0f9b03e to 30ec4f5 Compare February 7, 2018 21:34

hamishwillee mentioned this pull request Feb 8, 2018

LeddarOne startup instructions need to be updated PX4/PX4-user_guide#144

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ChristophTobler approved these changes Feb 8, 2018

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ChristophTobler merged commit 0b9025b into PX4:master Feb 8, 2018

mandelyoni mentioned this pull request Mar 17, 2018

Optical flow not working intel-aero/meta-intel-aero#315

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Support LeddarOne lidar #8409

Support LeddarOne lidar #8409

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Support LeddarOne lidar #8409

Support LeddarOne lidar #8409

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