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Published 20 hours ago • verified publisher icon ArduPilot

LD06 Proximity Sensor Integration

Open Adithya-Patil opened this issue 3 years ago • 6 comments

Creating a new Innomaker LD06 LiDAR driver for proximity sensing/obstacle avoidance. Communication protocol for sensor linked here.

Closes #17211 LDROBOT_LD06_Development manual_v1.0_en.pdf

Adithya-Patil avatar Feb 22 '22 04:02 Adithya-Patil

I've pushed two commits onto this PR to no longer use the table based approach for the CRC.

You still will need to squash up and fix your commits. But I think you are nearly there given your testing.

Added a rebase too.

hendjoshsr71 avatar Apr 27 '22 01:04 hendjoshsr71

Completed testing the LiDAR with a Pixhawk 4 controller. Videos below demonstrate the LiDAR working with Mission Planner's Proximity Sensor feature: https://photos.app.goo.gl/GmoLTm4FoQF1soSEA https://photos.app.goo.gl/qUvXH74AnAHz9rMi7

Adithya-Patil avatar Apr 27 '22 01:04 Adithya-Patil

Cleaned up the commit list and fixed a few style items.

Once you retest it with changes to the crc_function we can remove the commented out code and squash things again.

hendjoshsr71 avatar Apr 27 '22 06:04 hendjoshsr71

fixed up the commits by doing a soft reset and then did a git rebase master

That should get this passing autotests that were failing

hendjoshsr71 avatar Jun 17 '22 03:06 hendjoshsr71

I can rework the proximity changes I'm doing after this PR goes in so that doesn't need to be a blocker. Thanks for the consideration though.

rmackay9 avatar Jul 11 '22 23:07 rmackay9

Been continuing testing with my local version and still have not run into any issues with how the driver functions. Would like to retake a look and see if the code can be merged into the main branch- thanks in advance!

Adithya-Patil avatar Sep 16 '22 15:09 Adithya-Patil

@tridge this is hanging now i believe for a change you asked ? Is the change really required? This lidar is quite popular amongst the robot community (and cheap) so i think we should move forward with merge.

lvale avatar Jul 27 '23 00:07 lvale

@Adithya-Patil @lvale I have rebased and fix the build on this PR @rishabsingh3003 can you check the driver? I'm not very familiar with proximity drivers

tridge avatar Jul 27 '23 07:07 tridge

@rishabsingh3003 When can you check the logs?

lvale avatar Aug 07 '23 18:08 lvale

Not a blocker but we should add an entry to the custom build server for this new proximity sensor

rmackay9 avatar Aug 08 '23 00:08 rmackay9

rebase

tridge avatar Aug 08 '23 00:08 tridge

@rishabsingh3003 I've given you maintainer status so you can push to PR branches

tridge avatar Aug 08 '23 00:08 tridge

@lvale now that I have push access, I'll fix up the issues and rebase it over the weekend.

rishabsingh3003 avatar Aug 08 '23 06:08 rishabsingh3003

@lvale I have cleaned this PR up a little bit. Can you please check if this still works fine?

rishabsingh3003 avatar Aug 14 '23 03:08 rishabsingh3003

@lvale I have cleaned this PR up a little bit. Can you please check if this still works fine?

@rishabsingh3003 Sorry for the delay testing.

Everything looks fine, so I believe it is good to go

image

lvale avatar Sep 26 '23 00:09 lvale

Merged, thanks for your patience @Adithya-Patil , @lvale

peterbarker avatar Oct 04 '23 21:10 peterbarker