添加ulanding patch 驱动,第一次编译成功

src/drivers/distance_sensor/CMakeLists.txt

@@ -45,6 +45,7 @@ add_subdirectory(srf02)
 add_subdirectory(teraranger)
 add_subdirectory(tfmini)
 add_subdirectory(ulanding_radar)
+add_subdirectory(upatch_radar)
 add_subdirectory(vl53l0x)
 add_subdirectory(vl53l1x)
 add_subdirectory(gy_us42)

src/drivers/distance_sensor/upatch_radar/AerotennaUPatch.cpp

@@ -0,0 +1,239 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "AerotennaUPatch.hpp"
+
+#include <lib/drivers/device/Device.hpp>
+
+AerotennaUPatch::AerotennaUPatch(const char *port, uint8_t rotation) :
+	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
+	_px4_rangefinder(0, rotation)
+{
+	/* store port name */
+	strncpy(_port, port, sizeof(_port) - 1);
+
+	/* enforce null termination */
+	_port[sizeof(_port) - 1] = '\0';
+
+	device::Device::DeviceId device_id;
+	device_id.devid_s.bus_type = device::Device::DeviceBusType_SERIAL;
+
+	uint8_t bus_num = atoi(&_port[strlen(_port) - 1]); // Assuming '/dev/ttySx'
+
+	if (bus_num < 10) {
+		device_id.devid_s.bus = bus_num;
+	}
+
+	_px4_rangefinder.set_device_id(device_id.devid);
+	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_UPATCH);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR);
+
+	_px4_rangefinder.set_min_distance(UPATCH_MIN_DISTANCE);
+	_px4_rangefinder.set_max_distance(UPATCH_MAX_DISTANCE);
+}
+
+AerotennaUPatch::~AerotennaUPatch()
+{
+	stop();
+
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int AerotennaUPatch::init()
+{
+	start();
+
+	return PX4_OK;
+}
+
+int AerotennaUPatch::collect()
+{
+	perf_begin(_sample_perf);
+
+	int bytes_processed = 0;
+	int distance_cm = -1;
+	int index = 0;
+
+	float distance_m = -1.0f;
+
+	bool checksum_passed = false;
+
+	// Read from the sensor UART buffer.
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+	int bytes_read = ::read(_file_descriptor, &_buffer[0], sizeof(_buffer));
+
+	if (bytes_read > 0) {
+		index = bytes_read - 6;
+
+		while (index >= 0 && !checksum_passed) {
+			if (_buffer[index] == UPATCH_PACKET_HDR) {
+				bytes_processed = index;
+
+				while (bytes_processed < bytes_read && !checksum_passed) {
+					if (UPATCH_VERSION == 1) {
+						uint8_t checksum_value = (_buffer[index + 1] + _buffer[index + 2] + _buffer[index + 3] + _buffer[index + 4]) & 0xFF;
+						uint8_t checksum_byte = _buffer[index + 5];
+
+						if (checksum_value == checksum_byte) {
+							checksum_passed = true;
+							distance_cm = (_buffer[index + 3] << 8) | _buffer[index + 2];
+							distance_m = static_cast<float>(distance_cm) / 100.f;
+						}
+
+					} else {
+						checksum_passed = true;
+						distance_cm = (_buffer[index + 1] & 0x7F);
+						distance_cm += ((_buffer[index + 2] & 0x7F) << 7);
+						distance_m = static_cast<float>(distance_cm) * 0.045f;
+						break;
+					}
+
+					bytes_processed++;
+				}
+			}
+
+			index--;
+		}
+	}
+
+	if (!checksum_passed) {
+		return -EAGAIN;
+	}
+
+	_px4_rangefinder.update(timestamp_sample, distance_m);
+
+	perf_end(_sample_perf);
+
+	return PX4_OK;
+}
+
+int AerotennaUPatch::open_serial_port(const speed_t speed)
+{
+	// File descriptor initialized?
+	if (_file_descriptor > 0) {
+		PX4_DEBUG("serial port already open");
+		return PX4_OK;
+	}
+
+	// Configure port flags for read/write, non-controlling, non-blocking.
+	int flags = (O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+	// Open the serial port.
+	_file_descriptor = ::open(_port, flags);
+
+	if (_file_descriptor < 0) {
+		PX4_ERR("open failed (%i)", errno);
+		return PX4_ERROR;
+	}
+
+	if (!isatty(_file_descriptor)) {
+		PX4_WARN("not a serial device");
+		return PX4_ERROR;
+	}
+
+	termios uart_config{};
+
+	// Store the current port configuration. attributes.
+	tcgetattr(_file_descriptor, &uart_config);
+
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
+
+	// Clear ONLCR flag (which appends a CR for every LF).
+	uart_config.c_oflag &= ~ONLCR;
+
+	// No parity, one stop bit.
+	uart_config.c_cflag &= ~(CSTOPB | PARENB);
+
+	// No line processing - echo off, echo newline off, canonical mode off, extended input processing off, signal chars off
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	// Set the input baud rate in the uart_config struct.
+	int termios_state = cfsetispeed(&uart_config, speed);
+
+	if (termios_state < 0) {
+		PX4_ERR("CFG: %d ISPD", termios_state);
+		::close(_file_descriptor);
+		return PX4_ERROR;
+	}
+
+	// Set the output baud rate in the uart_config struct.
+	termios_state = cfsetospeed(&uart_config, speed);
+
+	if (termios_state < 0) {
+		PX4_ERR("CFG: %d OSPD", termios_state);
+		::close(_file_descriptor);
+		return PX4_ERROR;
+	}
+
+	// Apply the modified port attributes.
+	termios_state = tcsetattr(_file_descriptor, TCSANOW, &uart_config);
+
+	if (termios_state < 0) {
+		PX4_ERR("baud %d ATTR", termios_state);
+		::close(_file_descriptor);
+		return PX4_ERROR;
+	}
+
+	PX4_INFO("successfully opened UART port %s", _port);
+	return PX4_OK;
+}
+
+void AerotennaUPatch::Run()
+{
+	// Ensure the serial port is open.
+	open_serial_port();
+
+	collect();
+}
+
+void AerotennaUPatch::start()
+{
+	// Schedule the driver at regular intervals.
+	ScheduleOnInterval(UPATCH_MEASURE_INTERVAL, 0);
+}
+
+void AerotennaUPatch::stop()
+{
+	// Ensure the serial port is closed.
+	::close(_file_descriptor);
+
+	// Clear the work queue schedule.
+	ScheduleClear();
+}
+
+void AerotennaUPatch::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+}

src/drivers/distance_sensor/upatch_radar/AerotennaUPatch.hpp

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   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 AerotennaUPatch.hpp
+ * @author wp <wp@uav.com>
+ *
+ * Driver for the UPATCH 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 UPATCH_MEASURE_INTERVAL       10_ms
+#define UPATCH_MAX_DISTANCE	        50.0f
+#define UPATCH_MIN_DISTANCE	        0.315f
+#define UPATCH_VERSION	        1
+
+#if UPATCH_VERSION == 1
+#define UPATCH_PACKET_HDR     254
+#define UPATCH_BUFFER_LENGTH  18
+#else
+#define UPATCH_PACKET_HDR     72
+#define UPATCH_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 AerotennaUPatch : 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.
+	 */
+	AerotennaUPatch(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	~AerotennaUPatch() 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[UPATCH_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")};
+
+};

src/drivers/distance_sensor/upatch_radar/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__distance_sensor__upatch_radar
+	MAIN upatch_radar
+	SRCS
+		AerotennaUPatch.cpp
+		AerotennaUPatch.hpp
+		upatch_radar_main.cpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		drivers_rangefinder
+		px4_work_queue
+	)

src/drivers/distance_sensor/upatch_radar/module.yaml

@@ -0,0 +1,6 @@
+module_name: uPatch Radar
+serial_config:
+    - command: upatch_radar start ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_UPATCH_CFG
+        group: Sensors

src/drivers/distance_sensor/upatch_radar/parameters.c

@@ -0,0 +1,49 @@
+/*
+ * @Author: your name
+ * @Date: 2021-10-26 13:21:09
+ * @LastEditTime: 2021-10-26 14:39:59
+ * @LastEditors: Please set LastEditors
+ * @Description: In User Settings Edit
+ * @FilePath: /PX4-Autopilot/src/drivers/distance_sensor/upatch_radar/parameters.c
+ */
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+// /**
+//  * upatch param cfg
+//  *
+//  * @reboot_required true
+//  * @group Sensors
+//  * @boolean
+//  */
+// PARAM_DEFINE_INT32(SENS_UPATCH_CFG, 0);

src/drivers/distance_sensor/upatch_radar/upatch_radar_main.cpp

@@ -0,0 +1,164 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "AerotennaUPatch.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+namespace upatch_radar
+{
+
+AerotennaUPatch *g_dev{nullptr};
+
+static int start(const char *port, uint8_t rotation)
+{
+	if (g_dev != nullptr) {
+		PX4_WARN("already started");
+		return -1;
+	}
+
+	if (port == nullptr) {
+		PX4_ERR("serial port required");
+		return -1;
+	}
+
+	// Instantiate the driver.
+	g_dev = new AerotennaUPatch(port, rotation);
+
+	if (g_dev == nullptr) {
+		return -1;
+	}
+
+	if (g_dev->init() != PX4_OK) {
+		delete g_dev;
+		g_dev = nullptr;
+		return -1;
+	}
+
+	return 0;
+}
+
+static int stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		return -1;
+	}
+
+	return 0;
+}
+
+static int status()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return -1;
+	}
+
+	g_dev->print_info();
+
+	return 0;
+}
+
+static int usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Serial bus driver for the Aerotenna upatch radar.
+
+Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/upatch_radar.html
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+$ upatch_radar start -d /dev/ttyS1
+Stop driver
+$ upatch_radar stop
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("upatch_radar", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", false);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+	return PX4_OK;
+}
+
+} // namespace upatch_radar
+
+extern "C" __EXPORT int upatch_radar_main(int argc, char *argv[])
+{
+	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+	const char *device_path = nullptr;
+	int ch;
+	int myoptind = 1;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (uint8_t)atoi(myoptarg);
+			break;
+
+		case 'd':
+			device_path = myoptarg;
+			break;
+
+		default:
+			return upatch_radar::usage();
+		}
+	}
+
+	if (myoptind >= argc) {
+		return upatch_radar::usage();
+	}
+
+	if (!strcmp(argv[myoptind], "start")) {
+		return upatch_radar::start(device_path, rotation);
+
+	} else if (!strcmp(argv[myoptind], "stop")) {
+		return upatch_radar::stop();
+
+	} else if (!strcmp(argv[myoptind], "status")) {
+		return upatch_radar::status();
+	}
+
+	return upatch_radar::usage();
+}

src/drivers/drv_sensor.h

@@ -195,6 +195,8 @@
 
 #define DRV_GPS_DEVTYPE_SIM 0xAF
 
+#define DRV_DIST_DEVTYPE_UPATCH      0xB0
+
 
 #define DRV_DEVTYPE_UNUSED		0xff