Add support for NXP UWB position sensor Take 2 #14474

LowOrbitIonCannon · 2020-03-25T08:15:42Z

This is a continuation of #12956.

I made 2 new Messages:
Grid Survey Result
Distance Result

Things To do:

Restructure the Rddrone flow
Add Position Algorithm
Make Uorb publishing cleaner
?make Position Algorithm run simultaneously?

UWB-PX4 Relationship diagram

Old PR:

Describe problem solved by the proposed pull request
Based on #9029. This PR adds a driver for the NXP RDDrone UWB system, and integrates it with the existing precision landing code.

Test data / coverage
I held the sensor in my hands, spun around in my chair, and looked at the logs.

This is a WIP, I have not tested much.

@dk7xe @julianoes

julianoes

You added the submodule dspal. I assume that was by accident. I suggest to always use git add -p to avoid that.

I made a couple of small comments. I can again review later. And you can also ask me to review specific parts.

Tools/test_pozyx.py

msg/uwb_distance.msg

src/drivers/uwb/rddrone/rddrone.cpp

LowOrbitIonCannon · 2020-03-25T13:55:02Z

I cant see where i added that submodule.

Thank you for your Review, i added most changes. Ill commit it asap.

Iam also not happy with the structure of rddrone::run.
I hope we can use UAVCAN soon.

src/drivers/uwb/rddrone/rddrone.cpp

thusjr · 2020-07-15T03:51:25Z

I'm really glad to find that pull request.
I'm new to develop PX4. I'm confused for several days that using uORB to public data , and after that, how can EKF2 or other estimate modules use that data without rewrite that module?
thx a lot!

stale · 2020-12-25T12:08:28Z

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

LorenzMeier · 2021-01-31T10:16:43Z

What is the status here?

dk7xe · 2021-02-01T20:18:33Z

What is the status here?

Hi Lorenz,

due to a change to newer HW Loic had to rewrite the SW on the S32K.
Thats done now. But due to Corona restrictions and lousy weather we are not able to perform any Tests at the moment.
Hope to get this done by March.

LowOrbitIonCannon · 2022-01-27T15:35:39Z

This new Driver is based on MK UWB Shield 2 SR150 hardware and on the new MR_UWBNAV SW project.
The Hardware is available from Mobile Knowledge:
https://www.themobileknowledge.com/product/mk-uwb-kit-rtls/

I modified the uwb_r4 driver to reflect the new MR_UWBNAV project.
The uwb_sr150 should work as a prototype for further work on UWB.

We did some test Flights showing that the current UWB system allows for a Precision Landing:
Preclanding 0 Drone 24
Preclanding 1 Drone 12
Preclanding 2 Drone 12
Preclanding 3 Drone 12
A Video is pending.

Merging master into my driver caused a few conflicts. That is why I did a bench test using UWB, to confirm that the Landing_target_estimator is behaving correctly:
Benchtest Drone 24

@ThomasDebrunner @dk7xe

dk7xe · 2022-01-28T12:08:37Z

@ThomasDebrunner @julianoes may you please review and approve. Thank you!
Cheers, Gerald

LowOrbitIonCannon · 2022-02-02T08:58:07Z

I fixed the Issues like formating and the module config.
I updated the Licence to 2022 and resolved all conversations

dagar · 2022-02-26T18:30:35Z

This should be safe to merge once we get it through CI cleanly.

LowOrbitIonCannon · 2022-03-07T11:47:10Z

I Removed the atribute((packed)) as this was spawning an error in CI.

I ran "quick_check" and other make targets on my Dev. environment and they came back ok.
Could you please kick off the CI test?

@dagar @ThomasDebrunner

LowOrbitIonCannon · 2022-03-09T14:53:18Z

By merging the latest Master into my branch, make checks also compiled
This should be ready now.
@ThomasDebrunner

potaito

A couple of general remarks:

Do you ultimately want to squash everything or are there some atomic comits that you would like to keep? Asking because this PR is nearing to 100 commits 😅
Is UWB only used for precision landing here?

Tools/test_pozyx.py

msg/uwb_distance.msg

msg/uwb_grid.msg

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

potaito

Thanks for the changes so far, looks better now. I just have a few more remarks.

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

src/modules/navigator/precland.cpp

src/modules/landing_target_estimator/landing_target_estimator_main.cpp

msg/uwb_distance.msg

msg/uwb_grid.msg

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

potaito

Nice! Only a few more comments. I also took the liberty to remove some extra lines in the uwb_sr150 driver.

msg/uwb_grid.msg

msg/uwb_distance.msg

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

potaito

Precision landing simulation is not working anymore with this PR:

 make px4_sitl gazebo_iris_irlock

When LTEST_MODE is set to 1 (stationary), the drone becomes unstable. This suggests that the estimate coming out of landing_target_estimator is incorrect and feeds false information to EKF2, the drone's onboard position and attitude estimator.

When marking the IR beacon as moving with LTEST_MODE=0, the drone is stable again, probably because EKF2 no longer uses it as a landmark for its own estimation. However, once precision landing is activated, the drone will drift into the wrong direction.

I assume that both issues have the same underlying root cause, and that something is wrong with how irlock_report messages are now processed. Didn't look into logs or anything yet.

potaito

Looks good now, but we need free up some flash space before this can be brought in 😬

Memory region         Used Size  Region Size  %age Used
           flash:     1032641 B      1008 KB    100.04%
            sram:       27192 B       192 KB     13.83%
          ccsram:          0 GB        64 KB      0.00

This was the memory use before this PR:

 Memory region         Used Size  Region Size  %age Used
           flash:     1032085 B      1008 KB     99.99%
            sram:       27192 B       192 KB     13.83%
          ccsram:          0 GB        64 KB      0.00%

potaito · 2022-04-04T09:53:00Z

With last commit it fits into flash now:

Memory region         Used Size  Region Size  %age Used
           flash:     1025601 B      1008 KB     99.36%
            sram:       27192 B       192 KB     13.83%
          ccsram:          0 GB        64 KB      0.00%

uwb_sr150 driver for the sensor, and some modifications in precision landing to allow landing on a platform using the UWB system.

potaito

Good to go 👍

dk7xe · 2022-04-04T17:13:44Z

👍

julianoes self-requested a review March 25, 2020 08:31

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QGC rounding Float Parameters mavlink/qgroundcontrol#9781

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potaito dismissed their stale review via 2691751 April 4, 2022 08:37

potaito force-pushed the pr-nxp-uwb-driver branch from 2691751 to aa98cbc Compare April 4, 2022 12:14

LowOrbitIonCannon and others added 2 commits April 4, 2022 14:15

Support for NXP UWB position sensor

04a4cbb

uwb_sr150 driver for the sensor, and some modifications in precision landing to allow landing on a platform using the UWB system.

precland: save flash space

6b67ed5

potaito force-pushed the pr-nxp-uwb-driver branch from aa98cbc to 6b67ed5 Compare April 4, 2022 12:16

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potaito merged commit 47b08fd into PX4:master Apr 4, 2022

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potaito mentioned this pull request Oct 26, 2022

Added yaw tracking to LandingTargetEstimator and precland #20487

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NXPLoic mentioned this pull request Feb 14, 2023

Rework NXP UWB driver #21124

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Add support for NXP UWB position sensor Take 2 #14474

Add support for NXP UWB position sensor Take 2 #14474

LowOrbitIonCannon commented Mar 25, 2020

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Add support for NXP UWB position sensor Take 2 #14474

Add support for NXP UWB position sensor Take 2 #14474

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