Collision Prevention with distance sensor #12179

mrivi · 2019-06-04T19:41:02Z

Replacement for #10998

Changes:

map distance_sensor data to obstacle_distance message (Collision Prevention now supports range data from distance sensor only, companion computer only, both companion and distance sensor)
start cm8jl65 distance sensor with an orientation set by a parameter
add failsafe if the range data are stale. Go first into loiter

mrivi · 2019-06-04T19:41:47Z

FYI @mhkabir - I already flew it today and I have few things to fix. I'll keep you updated

hamishwillee · 2019-06-04T23:59:50Z

@mrivi You're my hero!

When this is done we need to update a couple of docs. Just some notes for me ... off the top of my head:

Distance Sensors (Rangefinders) - top paragraph can now link to collision prevention doc
Collision Prevention > PX4 Distance Sensor
- Needs to clarify setup - ie any hardware, software parameters that need to be set, including supported physical orientation of sensor.
- Confirm that supporting collision prevention does not disable anything else, unless other use has incompatible sensor orientation.
- Confirm how many sensors can be used - ie whether multiple rangefinders are supported on the vehicle and for what purpose, and if multiple are supported, which are used for collision sensors.
- Confirm modes collision prevention using distance sensor works in.

mrivi · 2019-06-06T09:24:26Z

@mhkabir Flight with a distance sensor where really god. Log is coming (Flight Review is down).
I still need to test data from companion + distance sensor

jkflying · 2019-06-06T14:17:07Z

Flight test went well!

https://logs.px4.io/plot_app?log=604ebb24-07eb-426f-8a81-3b53c2707fc8

jkflying · 2019-06-06T14:20:35Z

FYI @dagar we got a bunch of [load_mon] wq:lp_default low on stack! (292 bytes left) and [load_mon] wq:I2C1 low on stack! (276 bytes left) messages, and this shouldn't affect those subsystems.

dagar · 2019-06-06T14:56:33Z

FYI @dagar we got a bunch of [load_mon] wq:lp_default low on stack! (292 bytes left) and [load_mon] wq:I2C1 low on stack! (276 bytes left) messages, and this shouldn't affect those subsystems.

That should already be resolved in master. 26e041c

mrivi · 2019-06-25T13:04:30Z

@MaEtUgR would you mind reviewing it? We had good flights with it already

mrivi · 2019-06-26T15:05:17Z

@dagar with these changes the mc_pos_control is low on stack. See log https://review.px4.io/plot_app?log=4ad9105e-55f1-4f2e-9253-8ea41d2372de

mrivi · 2019-07-01T16:36:54Z

Out of flash on fmu v2

mhkabir · 2019-07-01T17:08:16Z

src/lib/CollisionPrevention/CollisionPrevention.cpp

+void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
+		const Vector2f &curr_pos, const Vector2f &curr_vel)
+{
+	obstacle_distance_s obstacle = {};


Suggested change

obstacle_distance_s obstacle = {};

obstacle_distance_s obstacle{};

mhkabir · 2019-07-01T17:09:24Z

src/lib/CollisionPrevention/CollisionPrevention.cpp

+	} else {
+		// if distance data are stale, switch to Loiter and disable Collision Prevention
+		// such that it is still possible to fly in Position Control Mode
+		_publishVehicleCmdDoLoiter();


Not sure if this is the best way to handle this.

@mhkabir what do you suggest?

IMO this is the best way. If your sensors fail you don't want the drone to continue flying as per normal. Ideally I think this should happen only once per arm, but if that will complicate the architecture a lot this is fine, it just means that you need to disable collision prevention in flight if the sensors fail.

…ensor orientation

…ation to distance sensor

CollisionPrevention: rename a few variables to make the code more readable

…ance sensors even if they are out of range

correct for all sensor orientation

obstacle_distance and distance sensor

…thods, add doxygen on header file

distance sensor such that if one of the two fails the vehicle goes into failsafe, do not switch off CollisionPrevention if it fails

review comments

bkueng

Thanks @mrivi, let's bring this in.
ROS CI failure unrelated, I see the same failure on master.

jkflying changed the title ~~[WIP] Collision Prevention with distance sensor~~ Collision Prevention with distance sensor Jun 6, 2019

This was referenced Jun 9, 2019

Weekly Digest (2 June, 2019 - 9 June, 2019) #12219

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Weekly Digest (9 June, 2019 - 16 June, 2019) #12290

Closed

mrivi force-pushed the col_prev_dist_sensor branch from 9e1064c to 71cd278 Compare June 19, 2019 08:45

weekly-digest bot mentioned this pull request Jun 23, 2019

Weekly Digest (16 June, 2019 - 23 June, 2019) #12318

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mrivi force-pushed the col_prev_dist_sensor branch 3 times, most recently from a40483d to b757b72 Compare June 25, 2019 12:40

mrivi requested a review from MaEtUgR June 25, 2019 13:03

mrivi requested a review from bresch June 28, 2019 09:31

mrivi force-pushed the col_prev_dist_sensor branch from cd3b510 to e06cdf9 Compare June 28, 2019 09:31

dagar added the Admin: Enhancement (improvement) 💡 label Jun 28, 2019

weekly-digest bot mentioned this pull request Jun 30, 2019

Weekly Digest (23 June, 2019 - 30 June, 2019) #12374

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mrivi force-pushed the col_prev_dist_sensor branch from f3a136e to 97c3add Compare July 1, 2019 06:56

mrivi force-pushed the col_prev_dist_sensor branch from 97c3add to a340ac7 Compare July 1, 2019 16:47

mrivi requested a review from jkflying July 1, 2019 16:48

mhkabir reviewed Jul 1, 2019

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mrivi force-pushed the col_prev_dist_sensor branch from a340ac7 to e68aaee Compare July 1, 2019 18:04

weekly-digest bot mentioned this pull request Jul 7, 2019

Weekly Digest (30 June, 2019 - 7 July, 2019) #12430

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mrivi added 18 commits July 15, 2019 08:24

distance_sensor: add horiontal and vertical fov, add quaternion for s…

73531ea

…ensor orientation

obstacle_distance: add fields from mavlink extension

4b2eb8b

simulator mavlink: add horizontal and vertical fov + quaterion orient…

1c3f45a

…ation to distance sensor

CollisionPrevention: map distance_sensor data to obstacle distance

5e45ecb

cm8jl65: add field of view

77d3b4d

cm8jl65: use paramter to set sensor orientation

a8bfcba

Obstacle_distance: use only one increment in float directly

f8ca8b4

CollisionPrevention: rename a few variables to make the code more readable

CollisionPrevention: make sure that the timestamp is updated for dist…

6b70021

…ance sensors even if they are out of range

CollisionPrevention: refactor code to make it more readable

bdd57a9

CollisionPrevention: make sure that vehicle tilt compensation is

df0abc4

correct for all sensor orientation

add uORB message obstacle_distance_fused with data from offboard

a98b776

obstacle_distance and distance sensor

stream mavlink message OBSTACLE DISTANCE

99ec505

logger: log obstacle_distance_fused instead of obstacle_distance

322572e

CollisionPrevention: add failsafe for stale distance data

494311f

CollisionPrevention: use FlightTasks convention for private/public me…

54049a0

…thods, add doxygen on header file

mc_pos_control: increase stack size by 100 bytes

b5cffd1

CollisionPrevention: use the maximum timestamp between offboard and

655d92c

distance sensor such that if one of the two fails the vehicle goes into failsafe, do not switch off CollisionPrevention if it fails

CollisionPrevention: compute the attitude_sensor_frame outside for loop

e3eb5dc

mrivi force-pushed the col_prev_dist_sensor branch from 74d4f09 to f07cf09 Compare July 15, 2019 06:25

CollisionPrevention: address #12179

f319813

review comments

mrivi force-pushed the col_prev_dist_sensor branch from f07cf09 to f319813 Compare July 15, 2019 07:57

bkueng approved these changes Jul 15, 2019

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bkueng merged commit 1fb8061 into master Jul 15, 2019

bkueng deleted the col_prev_dist_sensor branch July 15, 2019 08:58

weekly-digest bot mentioned this pull request Jul 21, 2019

Weekly Digest (14 July, 2019 - 21 July, 2019) #12528

Closed

hamishwillee mentioned this pull request Jul 24, 2019

Collision prevention using FC-distance sensor PX4/PX4-user_guide#537

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Collision Prevention with distance sensor #12179

Collision Prevention with distance sensor #12179

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	obstacle_distance_s obstacle = {};
	obstacle_distance_s obstacle{};

Collision Prevention with distance sensor #12179

Collision Prevention with distance sensor #12179

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