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Collision Prevention with distance sensor #12179
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73531ea
distance_sensor: add horiontal and vertical fov, add quaternion for s…
mrivi 4b2eb8b
obstacle_distance: add fields from mavlink extension
mrivi 1c3f45a
simulator mavlink: add horizontal and vertical fov + quaterion orient…
mrivi 5e45ecb
CollisionPrevention: map distance_sensor data to obstacle distance
mrivi 77d3b4d
cm8jl65: add field of view
mrivi a8bfcba
cm8jl65: use paramter to set sensor orientation
mrivi f8ca8b4
Obstacle_distance: use only one increment in float directly
mrivi 6b70021
CollisionPrevention: make sure that the timestamp is updated for dist…
mrivi bdd57a9
CollisionPrevention: refactor code to make it more readable
mrivi df0abc4
CollisionPrevention: make sure that vehicle tilt compensation is
mrivi a98b776
add uORB message obstacle_distance_fused with data from offboard
mrivi 99ec505
stream mavlink message OBSTACLE DISTANCE
mrivi 322572e
logger: log obstacle_distance_fused instead of obstacle_distance
mrivi 494311f
CollisionPrevention: add failsafe for stale distance data
mrivi 54049a0
CollisionPrevention: use FlightTasks convention for private/public me…
mrivi b5cffd1
mc_pos_control: increase stack size by 100 bytes
mrivi 655d92c
CollisionPrevention: use the maximum timestamp between offboard and
mrivi e3eb5dc
CollisionPrevention: compute the attitude_sensor_frame outside for loop
mrivi f319813
CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,6 +1,26 @@ | ||
module_name: Lanbao PSK-CM8JL65-CC5 | ||
serial_config: | ||
- command: cm8jl65 start -d ${SERIAL_DEV} | ||
- command: cm8jl65 start -d ${SERIAL_DEV} -R p:SENS_CM8JL65_R_0 | ||
port_config_param: | ||
name: SENS_CM8JL65_CFG | ||
group: Sensors | ||
|
||
parameters: | ||
- group: Sensors | ||
definitions: | ||
SENS_CM8JL65_R_0: | ||
description: | ||
short: Distance Sensor Rotation | ||
long: | | ||
Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum | ||
|
||
type: enum | ||
values: | ||
25: ROTATION_DOWNWARD_FACING | ||
24: ROTATION_UPWARD_FACING | ||
12: ROTATION_BACKWARD_FACING | ||
0: ROTATION_FORWARD_FACING | ||
6: ROTATION_LEFT_FACING | ||
2: ROTATION_RIGHT_FACING | ||
reboot_required: true | ||
default: 25 |
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Not sure if this is the best way to handle this.
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@mhkabir what do you suggest?
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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.