WIP: Pozyx addition to precision landing

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -437,6 +437,24 @@ then
 	fi
 fi
 
+if param compare SENS_EN_POZYX 2
+then
+	if pozyx start /dev/ttyS2
+	then
+	fi
+fi
+
+if param compare SENS_EN_POZYX 4
+then
+	# Serial 4 on FMUv2
+	if ver hwcmp PX4FMU_V2
+	then
+		if pozyx start /dev/ttyS6
+		then
+		fi
+	fi
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 sensors start

Tools/test_pozyx.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2018 PX4 Development Team. All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+# for python2.7 compatibility
+from __future__ import print_function
+
+import sys
+import serial
+import struct
+import time
+
+ser = serial.Serial('/dev/tty.usbserial-AH03H0W7', baudrate=115200)
+
+data = struct.pack("<BBIIIH", 4, 15, 0, 0, 0, 1337)
+
+checksum = 0
+for n in range(len(data)):
+    checksum ^= struct.unpack("<B", data[n])[0]
+
+ser.write(struct.pack("<B", 0x01))
+ser.write(data)
+ser.write(struct.pack("<B", checksum))
+
+
+ser.close()

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -35,6 +35,7 @@ set(config_module_list
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
 	drivers/oreoled
+	drivers/pozyx
 	drivers/protocol_splitter
 	drivers/pwm_input
 	drivers/pwm_out_sim

msg/CMakeLists.txt

@@ -80,6 +80,7 @@ set(msg_files
 	position_setpoint.msg
 	position_setpoint_triplet.msg
 	power_button_state.msg
+	pozyx_report.msg
 	pwm_input.msg
 	qshell_req.msg
 	rate_ctrl_status.msg

msg/pozyx_report.msg

@@ -0,0 +1,11 @@
+float32 pos_x
+float32 pos_y
+float32 pos_z
+
+int16 var_x
+int16 var_y
+int16 var_z
+
+int16 cov_xy
+int16 cov_xz
+int16 cov_yz

src/drivers/drv_pozyx.h

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_pozyx.h
+ *
+ * Pozyx device API
+ *
+ * @author Andreas Antener <[email protected]>
+ **/
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h" // include sensor driver interfaces
+
+#define POZYX_BASE_DEVICE_PATH	"/dev/pozyx"
+#define POZYX0_DEVICE_PATH	"/dev/pozyx0"
+
+#define POZYX_MSG_HEADER		0x01
+#define POZYX_MSGID_BEACON_CONFIG	0x02
+#define POZYX_MSGID_BEACON_DIST		0x03
+#define POZYX_MSGID_POSITION 		0x04
+
+#define POZYX_READ_LEN 			8
+// buffer needs to be as large as the biggest package (18) plus POZYX_READ_LEN
+#define POZYX_BUF_LEN 			26
+
+/*
+ * Messages used by the Arduino sketch to send data
+ */
+struct pozyx_beacon_config_s {
+	uint8_t beacon_id;
+	uint8_t beacon_count;
+	int32_t x;
+	int32_t y;
+	int32_t z;
+};
+
+struct pozyx_distance_s {
+	uint8_t beacon_id;
+	uint32_t distance;
+};
+
+struct pozyx_position_s {
+	int32_t x;
+	int32_t y;
+	int32_t z;
+	int16_t position_error;
+};

src/drivers/pozyx/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__pozyx
+	MAIN pozyx
+	COMPILE_FLAGS
+	SRCS
+		pozyx.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/pozyx/parameters.c

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Pozyx telemetry port
+ *
+ * @value -1 disabled
+ * @value 2 Telemetry 2
+ * @value 4 Serial 4
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_POZYX, -1);