uavcan flow support (Here Flow) #12477
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Signed-off-by: DanielePettenuzzo <[email protected]>
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FYI @dagar @RomanBapst @bkueng |
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| float32 integration_interval # Integration Interval in seconds | |||
| float32[2] rate_gyro_integral # Integrated Gyro Data in radians | |||
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We should probably keep it identical in case it ever needs to update.
https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan.
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Replaced with the source message. Should we comment it properly upstream? https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan
dagar
changed the title
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@DanielePettenuzzo @RomanBapst I've brought the DSDL generation into the PX4 uavcan driver and cleaned up some of the unnecessary parts (ioctl and read methods aren't even used). This is good to go from my perspective. |
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@dagar Bench tested this today.. I think we can merge this. I will try to fly it tomorrow or early next week. The first part of the log I do rotations (flow and gyro very similar) and in the second part I do horizontal translation (flow larger than gyro). |
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In a separate pr I will add support for the distance sensor on this module |
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That’s awesome guy’s! |
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@dagar @DanielePettenuzzo @RomanBapst What's the doc requirement here? What we at the moment is an Optical Flow page that has a subpage for PX4 flow. Basically I need to know how the setup differs for UAVCAN - ie which parameters still need to be set, and tuned, how the wiring is done, any new setup that needs to be done for UAVCAN Flow - ie new params to enable it, any limitations that come from using UAVCAN vs using any other distance sensor. With respect to Here Flow I need to know if there is any special setup or tuning. For example, focussing the camera is covered for PX4Flow doc. Can you guys look at optical flow page and PX4 flow doc and provide some sort of delta summary? |
hamishwillee
added
the
Documentation 📑
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@hamishwillee @DanielePettenuzzo I am getting a couple of these units soon and would be interested to know, as @hamishwillee said, how these can be configured. Also, @DanielePettenuzzo is the lidar module mandatory to have it fly, similar to the PX4Flow, since you need to have the distance to the ground to determine the horizontal velocity? |
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@dagar @hamishwillee I started the PMW3901 page in the user guide because it's different from the PX4 Flow. I think we should have a generic optical flow page and then subpages explaining the PX4FLOW and the PMW3901. We can move the conversation to this pr in the user guide: PX4/PX4-user_guide#559 |
This uavcan driver adds support for the pmw3901 via uavcan. It was tested and the data in uorb looks valid. The remaining issue is that we cannot generate the uavcan header inside px4 for this custom message. To test this we generated the header manually and then copied it into
src/drivers/uavcan/libuavcan/libuavcan/include/dsdlc_generated. It would be great to find a way to have a directory in px4 where we can generate our own headers.Once we figure this out I will clean this up for merging.