AerotennaULanding.hpp
3.88 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
/****************************************************************************
*
* Copyright (c) 2016-2020 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 AerotennaULanding.hpp
* @author Jessica Stockham <jessica@aerotenna.com>
* @author Roman Bapst <roman@uaventure.com>
*
* Driver for the uLanding radar from Aerotenna
*/
#pragma once
#include <fcntl.h>
#include <poll.h>
#include <termios.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/perf/perf_counter.h>
using namespace time_literals;
#define ULANDING_MEASURE_INTERVAL 10_ms
#define ULANDING_MAX_DISTANCE 50.0f
#define ULANDING_MIN_DISTANCE 0.315f
#define ULANDING_VERSION 1
#if ULANDING_VERSION == 1
#define ULANDING_PACKET_HDR 254
#define ULANDING_BUFFER_LENGTH 18
#else
#define ULANDING_PACKET_HDR 72
#define ULANDING_BUFFER_LENGTH 9
#endif
/**
* Assume standard deviation to be equal to sensor resolution.
* Static bench tests have shown that the sensor ouput does
* not vary if the unit is not moved.
*/
#define SENS_VARIANCE 0.045f * 0.045f
class AerotennaULanding : public px4::ScheduledWorkItem
{
public:
/**
* Default Constructor
* @param port The serial port to open for communicating with the sensor.
* @param rotation The sensor rotation relative to the vehicle body.
*/
AerotennaULanding(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~AerotennaULanding() override;
int init();
void print_info();
private:
/**
* Reads data from serial UART and places it into a buffer.
*/
int collect();
/**
* Opens and configures the UART serial communications port.
* @param speed The baudrate (speed) to configure the serial UART port.
*/
int open_serial_port(const speed_t speed = B115200);
void Run() override;
void start();
void stop();
PX4Rangefinder _px4_rangefinder;
char _port[20] {};
int _file_descriptor{-1};
uint8_t _buffer[ULANDING_BUFFER_LENGTH] {};
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
};