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Add support for 2 Lighthouse V2 base stations #570

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krichardsson opened this issue Mar 31, 2020 · 0 comments
Closed

Add support for 2 Lighthouse V2 base stations #570

krichardsson opened this issue Mar 31, 2020 · 0 comments
Milestone
2021.03

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@krichardsson
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The FPGA V4 binary (added in #566) supports lighthouse V2 base stations. Add support for decoding and using the V2 base station data as an alternative to V1 base station data for positioning.

  • Add system type identification (V1 or V2). We should probably lock to the first type we see, and not support switching back and forth.
  • Some of the code for Base station v1 is hardcoded for 2 base stations. In this initial step towards full LH V2 support, we keep the limitation of 2 base stations to maintain compatibility with scripts.
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 Refactoring. Breaking up lighthouse.c into multiple files.
9c52e5a
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 Added missing file headers
c9452cb
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 Improved unit test support: Empty log, param and debug macros wh…
b947d72 
…en running unit tests
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 Added unit tests for lighthouse UART communication
df911d0
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 Added decoding of lighthouse 2 data from FPGA
1cb2319
krichardsson added a commit that referenced this issue Apr 1, 2020
@krichardsson
#570 All lighthouse functionality always compiled into the FW. The FP…
310191d 
…GA binary only included when DISABLE_LIGHTHOUSE_DRIVER=0 to keep FW size down for other users.
krichardsson added a commit that referenced this issue Apr 2, 2020
@krichardsson
#570 Added identification of lighthouse base station type
040a4a1
krichardsson added a commit that referenced this issue Apr 8, 2020
@krichardsson
#570 Refactoring
8ed7dc4
krichardsson added a commit that referenced this issue Apr 8, 2020
@krichardsson
#570 Refactoring to enable unified pulse procesor infterface
7f4f539
krichardsson added a commit that referenced this issue Apr 8, 2020
@krichardsson
#570 Refactoring - introduced function pointer for pulse processor
cab4b03
krichardsson added a commit that referenced this issue Apr 8, 2020
@krichardsson
#570 Implementation of Pulse processor for V2 base stations
da9e557
krichardsson added a commit that referenced this issue Apr 9, 2020
@krichardsson
#570 Updated documentation
ec93baf
krichardsson added a commit that referenced this issue Apr 9, 2020
@krichardsson
#570 Modified bs geometry script to work with one base station
a2a26ab
krichardsson added a commit that referenced this issue Apr 14, 2020
@krichardsson
#570 Added unit test
7b0e7d3
krichardsson added a commit that referenced this issue Apr 16, 2020
@krichardsson
#570 Relax requirements on channel in blocks. Accept the block if onl…
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…y one channel is set.
krichardsson added a commit that referenced this issue Apr 18, 2020
@krichardsson
#570 Using constant for nr of base stations
0387a08
krichardsson added a commit that referenced this issue Apr 23, 2020
@krichardsson
#570 Refactoring - improved separation of Lighthouse V1 and V2 data
6be0846
krichardsson added a commit that referenced this issue Apr 24, 2020
@krichardsson
#570 Redesign of LH V2 pulse processing to be more resilient when swe…
ab46f7a 
…eps from multiple base stations overlap
krichardsson added a commit that referenced this issue Apr 24, 2020
@krichardsson
#570 Refactoring - Changed ootx decoders into array
d4223f5
krichardsson added a commit that referenced this issue Apr 24, 2020
@krichardsson
#570 Added slow bit handling to Lighthouse 2 pulse processor
5f35b2f
krichardsson added a commit that referenced this issue Apr 24, 2020
@krichardsson
#570 Added LH 2 calibration data to decoder
0b0afdb
krichardsson added a commit that referenced this issue Apr 24, 2020
@krichardsson
#570 Decoding of LH 2 calibration data works. Still disabled until we…
f7616f9 
… know how to use the data.
krichardsson added a commit that referenced this issue Apr 27, 2020
@krichardsson
#570 Corrected compile error due to disabled code
8064ef9
krichardsson added a commit that referenced this issue Apr 27, 2020
@krichardsson
#570 Disabled unit tests for calibration data
91ee10a
krichardsson added a commit that referenced this issue Apr 27, 2020
@krichardsson
#570 Refactoring - moved LH V1 emulation to lighthouse_core
5c5448f
krichardsson added a commit that referenced this issue May 19, 2020
@krichardsson
#570 Redefined lighthouse V2 rotor angles to be 0 forward.
ce7b901 
There is a 120 degree offset between the light planes, this is now compensated for in the pulse processor to produce angles that are 0 for both light planes when a sensor is located on the X-axis (of the base station reference frame)
krichardsson added a commit that referenced this issue May 20, 2020
@krichardsson
#570 Reworked measurement model for sweeps in kalman filter
8787986 
Now supports arbitrary axis of rotation for the rotor and tilt angle for the light plane
krichardsson added a commit that referenced this issue May 20, 2020
@krichardsson
#570 Separated LH V1 and 2 angles in struct
75c4ae6
krichardsson added a commit that referenced this issue May 20, 2020
@krichardsson
#570 Push LH2 angles into kalman filter without converting to LH V1
5d4350e
krichardsson added a commit that referenced this issue Jun 2, 2020
@krichardsson
#570 Added check that we get data form all lighthouse sensors
5befdd0
krichardsson added a commit that referenced this issue Jun 4, 2020
@krichardsson
#570 Increased std dev for LH2 in kalman filter
71bf0d5 
This is a temporary remedy for the lack of calibration data handling. When using 2 base stations the errors in lighthouse sweep angles are large in some places and causes the
estimated position to jump around.
krichardsson added a commit that referenced this issue Sep 9, 2020
@krichardsson
#570 Added documentation for lighthouse
14c70e0
krichardsson added a commit that referenced this issue Sep 9, 2020
@krichardsson
#570 Added redirect to lighthouse docs
01624dc
krichardsson added a commit that referenced this issue Sep 18, 2020
@krichardsson
#570 Corrected lighthouse V1 to V2 conversion
391265e
krichardsson added a commit that referenced this issue Sep 18, 2020
@krichardsson
#570 Added documentation for LH2 to LH1 angle conversion
e0d20f2
krichardsson added a commit that referenced this issue Sep 22, 2020
@krichardsson
#570 Updates to lighthouse angle conversion docs
ec0aa96
krichardsson added a commit that referenced this issue Sep 29, 2020
@krichardsson
#570 Added compile flag to force the lighthouse deck into V1 or V2 sy…
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…stem type
krichardsson added a commit that referenced this issue Oct 8, 2020
@krichardsson
#570 Added calibration correction for LH1 and LH2
8fa0b21 
* Calibration model for LH1 based on NASA AstroBee model
* Calibration model for LH2 not complete but good enough
* Extracted some math utils from kalman_core into cf_math.h
krichardsson added a commit that referenced this issue Oct 8, 2020
@krichardsson
#570 Added unit tests for cf_math.h
bcb265c
krichardsson added a commit that referenced this issue Oct 8, 2020
@krichardsson
#570 Corrected const assignment problem
f7b97f9
krichardsson added a commit that referenced this issue Oct 8, 2020
@krichardsson
#570 Refactoring
cfd9393
krichardsson added a commit that referenced this issue Oct 22, 2020
@krichardsson
#570 Added script to get calibration data from a lighthouse 2 base st…
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…ation
krichardsson added a commit that referenced this issue Oct 22, 2020
@krichardsson
#570 Aligned naming of lighthouse functions
0f04e15
@krichardsson krichardsson added this to the next-release milestone Feb 24, 2021
cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this issue Sep 27, 2024
@jonasdn
Merge pull request bitcraze#570 from bitcraze/jonasdn/569
9639207 
FlightTab: Do not set PID controller by default
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