Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

SENS: SF45: Scale the measured distance with pitch and roll #24142

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Original file line number Diff line number Diff line change
Expand Up @@ -38,10 +38,13 @@
#include <termios.h>
#include <lib/crc/crc.h>
#include <lib/mathlib/mathlib.h>
#include <matrix/matrix/math.hpp>

#include <float.h>

using namespace time_literals;
using matrix::Quatf;
using matrix::Vector3f;

/* Configuration Constants */

Expand Down Expand Up @@ -649,11 +652,22 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
PX4_DEBUG("scaled_yaw: \t %d, \t current_bin: \t %d, \t distance: \t %8.4f\n", scaled_yaw, current_bin,
(double)*distance_m);

if (_vehicle_attitude_sub.updated()) {
vehicle_attitude_s vehicle_attitude;

if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
_vehicle_attitude = Quatf(vehicle_attitude.q);
}
}

_scale_dist(*distance_m, scaled_yaw, _vehicle_attitude);

if (_current_bin_dist > _obstacle_distance.max_distance) {
_current_bin_dist = _obstacle_distance.max_distance + 1; // As per ObstacleDistance.msg definition
}

hrt_abstime now = hrt_absolute_time();

_handle_missed_bins(current_bin, _previous_bin, _current_bin_dist, now);

_publish_obstacle_msg(now);
Expand Down Expand Up @@ -727,6 +741,20 @@ void SF45LaserSerial::_handle_missed_bins(uint8_t current_bin, uint8_t previous_
}
}
}
void SF45LaserSerial::_scale_dist(float &distance, const int16_t &yaw, const matrix::Quatf &attitude)
{
const Quatf q_sensor(Quatf(cosf(yaw / 2.f), 0.f, 0.f, sinf(yaw / 2.f)));
const Vector3f forward_vector(1.0f, 0.0f, 0.0f);

const Quatf q_sensor_rotation = attitude * q_sensor;

const Vector3f rotated_sensor_vector = q_sensor_rotation.rotateVector(forward_vector);

float sensor_dist_scale = rotated_sensor_vector.xy().norm();
sensor_dist_scale = math::constrain(sensor_dist_scale, FLT_EPSILON, 1.0f); // limit it to the expected range.
distance = distance * sensor_dist_scale;
}

uint8_t SF45LaserSerial::sf45_convert_angle(const int16_t yaw)
{
uint8_t mapped_sector = 0;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,9 @@
#include <lib/perf/perf_counter.h>

#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/vehicle_attitude.h>

#include "sf45_commands.h"

Expand Down Expand Up @@ -112,7 +114,9 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
bool _crc_valid{false};

void _handle_missed_bins(uint8_t current_bin, uint8_t previous_bin, uint16_t measurement, hrt_abstime now);
void _scale_dist(float &distance, const int16_t &yaw, const matrix::Quatf &attitude);
void _publish_obstacle_msg(hrt_abstime now);
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uint64_t _data_timestamps[BIN_COUNT];


Expand Down Expand Up @@ -141,6 +145,7 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
int32_t _orient_cfg{0};
uint8_t _previous_bin{0};
uint16_t _current_bin_dist{UINT16_MAX};
matrix::Quatf _vehicle_attitude{};

// end of SF45/B data members

Expand Down
Loading