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Sensordots Mappydot+ driver (#12147)

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* Add MappyDot+ driver capable of utilizing multiple sensors on a single i2c bus.
This commit is contained in:
Kabir Mohammed
2019-06-16 06:43:52 +05:30
committed by Daniel Agar
parent eaa3d4a24f
commit ce784d1ef0
5 changed files with 957 additions and 0 deletions
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6
ROMFS/px4fmu_common/init.d/rc.sensors
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@@ -75,6 +75,12 @@ then
ll40ls start i2c
fi
# mappydot lidar sensor
if param compare SENS_EN_MPDT 1
then
mappydot start -a
fi
# mb12xx sonar sensor
if param greater SENS_EN_MB12XX 0
then

1
src/drivers/distance_sensor/CMakeLists.txt
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@@ -35,6 +35,7 @@ add_subdirectory(cm8jl65)
#add_subdirectory(hc_sr04) # not currently supported
add_subdirectory(leddar_one)
add_subdirectory(ll40ls)
add_subdirectory(mappydot)
add_subdirectory(mb12xx)
add_subdirectory(pga460)
add_subdirectory(sf0x)

39
src/drivers/distance_sensor/mappydot/CMakeLists.txt Normal file
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@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2019 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__mappydot
MAIN mappydot
STACK_MAIN 1200
SRCS
MappyDot.cpp
)

614
src/drivers/distance_sensor/mappydot/MappyDot.cpp Normal file
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@@ -0,0 +1,614 @@
/****************************************************************************
*
* Copyright (c) 2018-2019 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 MappyDot.cpp
* @author Mohammed Kabir (mhkabir@mit.edu)
* @author Mark Sauder (mcsauder@gmail.com)
*
* Driver for Mappydot infrared rangefinders connected via I2C.
*/
#include <string.h>
#include <containers/Array.hpp>
#include <drivers/device/i2c.h>
#include <drivers/drv_range_finder.h>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_module_params.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/distance_sensor.h>
/* MappyDot Registers */
/* Basics */
#define MAPPYDOT_MEASUREMENT_BUDGET 0x42
#define MAPPYDOT_READ_ERROR_CODE 0x45
#define MAPPYDOT_CHECK_INTERRUPT 0x49
#define MAPPYDOT_READ_ACCURACY 0x52
#define MAPPYDOT_PERFORM_SINGLE_RANGE 0x53
#define MAPPYDOT_SET_CONTINUOUS_RANGING_MODE 0x63
#define MAPPYDOT_RANGING_MEASUREMENT_MODE 0x6D
#define MAPPYDOT_READ_DISTANCE 0x72
#define MAPPYDOT_SET_SINGLE_RANGING_MODE 0x73
/* Configuration */
#define MAPPYDOT_FILTERING_ENABLE 0x46
#define MAPPYDOT_SIGNAL_LIMIT_CHECK_VALUE 0x47
#define MAPPYDOT_ENABLE_CROSSTALK_COMPENSATION 0x4B
#define MAPPYDOT_SIGMA_LIMIT_CHECK_VALUE 0x4C
#define MAPPYDOT_INTERSENSOR_CROSSTALK_MEASUREMENT_DELAY 0x51
#define MAPPYDOT_INTERSENSOR_CROSSTALK_REDUCTION_ENABLE 0x54
#define MAPPYDOT_AVERAGING_ENABLE 0x56
#define MAPPYDOT_INTERSENSOR_SYNC_ENABLE 0x59
#define MAPPYDOT_CALIBRATE_DISTANCE_OFFSET 0x61
#define MAPPYDOT_SET_LED_THRESHOLD_DISTANCE_IN_MM 0x65
#define MAPPYDOT_FILTERING_DISABLE 0x66
#define MAPPYDOT_SET_GPIO_MODE 0x67
#define MAPPYDOT_AVERAGING_SAMPLES 0x69
#define MAPPYDOT_DISABLE_CROSSTALK_COMPENSATION 0x6B
#define MAPPYDOT_SET_LED_MODE 0x6C
#define MAPPYDOT_SET_GPIO_THRESHOLD_DISTANCE_IN_MM 0x6F
#define MAPPYDOT_REGION_OF_INTEREST 0x70
#define MAPPYDOT_INTERSENSOR_CROSSTALK_TIMEOUT 0x71
#define MAPPYDOT_INTERSENSOR_CROSSTALK_REDUCTION_DISABLE 0x74
#define MAPPYDOT_CALIBRATE_SPAD 0x75
#define MAPPYDOT_AVERAGING_DISABLE 0x76
#define MAPPYDOT_CALIBRATE_CROSSTALK 0x78
#define MAPPYDOT_INTERSENSOR_SYNC_DISABLE 0x79
/* Settings */
#define MAPPYDOT_FIRMWARE_VERSION 0x4E
#define MAPPYDOT_READ_CURRENT_SETTINGS 0x62
#define MAPPYDOT_DEVICE_NAME 0x64
#define MAPPYDOT_NAME_DEVICE 0x6E
#define MAPPYDOT_WRITE_CURRENT_SETTINGS_AS_START_UP_DEFAULT 0x77
#define MAPPYDOT_RESTORE_FACTORY_DEFAULTS 0x7A
/* Advanced */
#define MAPPYDOT_AMBIENT_RATE_RETURN 0x41
#define MAPPYDOT_VL53L1X_NOT_SHUTDOWN 0x48
#define MAPPYDOT_SIGNAL_RATE_RETURN 0x4A
#define MAPPYDOT_RESET_VL53L1X_RANGING 0x58
#define MAPPYDOT_VL53L1X_SHUTDOWN 0x68
#define MAPPYDOT_READ_NONFILTERED_VALUE 0x6A
/* Super Advanced */
#define MAPPYDOT_ENTER_FACTORY_MODE 0x23 //"#"//"!#!#!#"
#define MAPPYDOT_WIPE_ALL_SETTINGS 0x3C //"<"//"><><><" (Must be in factory mode)
/* Ranging Modes */
#define MAPPYDOT_LONG_RANGE 0x6C
#define MAPPYDOT_MED_RANGE 0x6D
#define MAPPYDOT_SHORT_RANGE 0x73
/* LED Modes */
#define MAPPYDOT_LED_OFF 0x66
#define MAPPYDOT_LED_MEASUREMENT_OUTPUT 0x6D
#define MAPPYDOT_LED_ON 0x6F
#define MAPPYDOT_LED_PWM_ENABLED 0x70
#define MAPPYDOT_LED_THRESHOLD_ENABLED 0x74
/* GPIO Modes */
#define MAPPYDOT_GPIO_LOW 0x66
#define MAPPYDOT_GPIO_MEASUREMENT_INTERRUPT 0x6D
#define MAPPYDOT_GPIO_HIGH 0x6F
#define MAPPYDOT_GPIO_PWM_ENABLED 0x70
#define MAPPYDOT_GPIO_THRESHOLD_ENABLED 0x74
/* I2C Bootloader */
#define MAPPYDOT_REBOOT_TO_BOOTLOADER 0x01
/* Device limits */
#define MAPPYDOT_MIN_DISTANCE (0.2f) // meters
#define MAPPYDOT_MAX_DISTANCE (4.f) // meters
#define MAPPYDOT_BUS_CLOCK 400000 // 400kHz bus speed
#define MAPPYDOT_DEVICE_PATH "/dev/mappydot"
/* Configuration Constants */
#define MAPPYDOT_BASE_ADDR 0x08
#define MAPPYDOT_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
#define MAPPYDOT_MEASUREMENT_INTERVAL_USEC 50000 // 50ms measurement interval, 20Hz.
using namespace time_literals;
class MappyDot : public device::I2C, public ModuleParams, public px4::ScheduledWorkItem
{
public:
MappyDot(const int bus = MAPPYDOT_BUS_DEFAULT);
virtual ~MappyDot();
/**
* Initializes the sensors, advertises uORB topic,
* sets device addresses
*/
virtual int init() override;
/**
* Prints basic diagnostic information about the driver.
*/
void print_info();
/**
* Initializes the automatic measurement state machine and starts the driver.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
protected:
private:
/**
* Sends an i2c measure command to check for presence of a sensor.
*/
int probe();
/**
* Collects the most recent sensor measurement data from the i2c bus.
*/
int collect();
/**
* Performs a poll cycle; collect from the previous measurement and start a new one.
*/
void Run() override;
/**
* Gets the current sensor rotation value.
*/
int get_sensor_rotation(const size_t index);
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_addresses {};
px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> _sensor_rotations {};
size_t _sensor_count{0};
orb_advert_t _distance_sensor_topic{nullptr};
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "mappydot_comms_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "mappydot_sample_perf")};
DEFINE_PARAMETERS(
(ParamInt<px4::params::SENS_EN_MPDT>) _p_sensor_enabled,
(ParamInt<px4::params::SENS_MPDT0_ROT>) _p_sensor0_rot,
(ParamInt<px4::params::SENS_MPDT1_ROT>) _p_sensor1_rot,
(ParamInt<px4::params::SENS_MPDT2_ROT>) _p_sensor2_rot,
(ParamInt<px4::params::SENS_MPDT3_ROT>) _p_sensor3_rot,
(ParamInt<px4::params::SENS_MPDT4_ROT>) _p_sensor4_rot,
(ParamInt<px4::params::SENS_MPDT5_ROT>) _p_sensor5_rot,
(ParamInt<px4::params::SENS_MPDT6_ROT>) _p_sensor6_rot,
(ParamInt<px4::params::SENS_MPDT7_ROT>) _p_sensor7_rot,
(ParamInt<px4::params::SENS_MPDT8_ROT>) _p_sensor8_rot,
(ParamInt<px4::params::SENS_MPDT9_ROT>) _p_sensor9_rot,
(ParamInt<px4::params::SENS_MPDT10_ROT>) _p_sensor10_rot,
(ParamInt<px4::params::SENS_MPDT11_ROT>) _p_sensor11_rot
);
};
MappyDot::MappyDot(const int bus) :
I2C("MappyDot", MAPPYDOT_DEVICE_PATH, bus, MAPPYDOT_BASE_ADDR, MAPPYDOT_BUS_CLOCK),
ModuleParams(nullptr),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id()))
{}
MappyDot::~MappyDot()
{
// Ensure we are truly inactive.
stop();
// Unadvertise the distance sensor topic.
if (_distance_sensor_topic != nullptr) {
orb_unadvertise(_distance_sensor_topic);
}
// Free perf counters.
perf_free(_comms_errors);
perf_free(_sample_perf);
}
int
MappyDot::collect()
{
uint8_t val[2] = {};
perf_begin(_sample_perf);
// Increment the sensor index, (limited to the number of sensors connected).
for (size_t index = 0; index < _sensor_count; index++) {
// Set address of the current sensor to collect data from.
set_device_address(_sensor_addresses[index]);
// Transfer data from the bus.
int ret_val = transfer(nullptr, 0, &val[0], 2);
if (ret_val < 0) {
PX4_ERR("sensor %i read failed, address: 0x%02X", index, _sensor_addresses[index]);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret_val;
}
uint16_t distance_mm = uint16_t(val[0]) << 8 | val[1];
float distance_m = static_cast<float>(distance_mm) / 1000.f;
distance_sensor_s report {};
report.current_distance = distance_m;
report.id = _sensor_addresses[index];
report.max_distance = MAPPYDOT_MAX_DISTANCE;
report.min_distance = MAPPYDOT_MIN_DISTANCE;
report.orientation = _sensor_rotations[index];
report.signal_quality = -1;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.variance = 0;
int instance_id;
orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
}
perf_end(_sample_perf);
return PX4_OK;
}
int
MappyDot::get_sensor_rotation(const size_t index)
{
switch (index) {
case 0: return _p_sensor0_rot.get();
case 1: return _p_sensor1_rot.get();
case 2: return _p_sensor2_rot.get();
case 3: return _p_sensor3_rot.get();
case 4: return _p_sensor4_rot.get();
case 5: return _p_sensor5_rot.get();
case 6: return _p_sensor6_rot.get();
case 7: return _p_sensor7_rot.get();
case 8: return _p_sensor8_rot.get();
case 9: return _p_sensor9_rot.get();
case 10: return _p_sensor10_rot.get();
case 11: return _p_sensor11_rot.get();
default: return PX4_ERROR;
}
}
int
MappyDot::init()
{
if (_p_sensor_enabled.get() == 0) {
PX4_WARN("disabled");
return PX4_ERROR;
}
if (I2C::init() != PX4_OK) {
return PX4_ERROR;
}
// Allow for sensor auto-addressing time
px4_usleep(1_s);
// Check for connected rangefinders on each i2c port,
// starting from the base address 0x08 and incrementing
for (size_t i = 0; i <= RANGE_FINDER_MAX_SENSORS; i++) {
set_device_address(MAPPYDOT_BASE_ADDR + i);
// Check if a sensor is present.
if (probe() != PX4_OK) {
break;
}
// Store I2C address
_sensor_addresses[i] = MAPPYDOT_BASE_ADDR + i;
_sensor_rotations[i] = get_sensor_rotation(i);
_sensor_count++;
// Configure the sensor
// Set measurement budget
uint16_t budget_ms = MAPPYDOT_MEASUREMENT_INTERVAL_USEC / 1000;
uint8_t budget_cmd[3] = {MAPPYDOT_MEASUREMENT_BUDGET,
uint8_t(budget_ms >> 8 & 0xFF),
uint8_t(budget_ms & 0xFF)
};
transfer(&budget_cmd[0], 3, nullptr, 0);
px4_usleep(10_ms);
// Configure long range mode
uint8_t range_cmd[2] = {MAPPYDOT_RANGING_MEASUREMENT_MODE,
MAPPYDOT_LONG_RANGE
};
transfer(&range_cmd[0], 2, nullptr, 0);
px4_usleep(10_ms);
// Configure LED threshold
uint16_t threshold_mm = 1000; // 1m
uint8_t threshold_cmd[3] = {MAPPYDOT_SET_LED_THRESHOLD_DISTANCE_IN_MM,
uint8_t(threshold_mm >> 8 & 0xFF),
uint8_t(threshold_mm & 0xFF)
};
transfer(&threshold_cmd[0], 3, nullptr, 0);
px4_usleep(10_ms);
PX4_INFO("sensor %i at address 0x%02X added", i, get_device_address());
}
if (_sensor_count == 0) {
return PX4_ERROR;
}
PX4_INFO("%i sensors connected", _sensor_count);
return PX4_OK;
}
int
MappyDot::probe()
{
uint8_t cmd = MAPPYDOT_PERFORM_SINGLE_RANGE;
int ret_val = transfer(&cmd, 1, nullptr, 0);
return ret_val;
}
void
MappyDot::print_info()
{
perf_print_counter(_comms_errors);
perf_print_counter(_sample_perf);
}
void
MappyDot::Run()
{
// Collect the sensor data.
if (collect() != PX4_OK) {
PX4_INFO("collection error");
// If an error occurred, restart the measurement state machine.
start();
return;
}
}
void
MappyDot::start()
{
// Fetch parameter values.
ModuleParams::updateParams();
// Schedule the driver to run on a set interval
ScheduleOnInterval(MAPPYDOT_MEASUREMENT_INTERVAL_USEC, 10000);
}
void
MappyDot::stop()
{
ScheduleClear();
}
/**
* Local functions in support of the shell command.
*/
namespace mappydot
{
MappyDot *g_dev;
int start();
int start_bus(int i2c_bus);
int status();
int stop();
int usage();
/**
* Attempt to start driver on all available I2C busses.
*
* This function will return as soon as the first sensor
* is detected on one of the available busses or if no
* sensors are detected.
*/
int
start()
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_ERROR;
}
for (size_t i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
if (start_bus(i2c_bus_options[i]) == PX4_OK) {
return PX4_OK;
}
}
return PX4_ERROR;
}
/**
* Start the driver on a specific bus.
*
* This function only returns if the sensor is up and running
* or could not be detected successfully.
*/
int
start_bus(int i2c_bus)
{
if (g_dev != nullptr) {
PX4_ERR("already started");
return PX4_OK;
}
// Instantiate the driver.
g_dev = new MappyDot(i2c_bus);
if (g_dev == nullptr) {
delete g_dev;
return PX4_ERROR;
}
// Initialize the sensor.
if (g_dev->init() != PX4_OK) {
delete g_dev;
g_dev = nullptr;
return PX4_ERROR;
}
// Start the driver.
g_dev->start();
PX4_INFO("driver started");
return PX4_OK;
}
/**
* Print the driver status.
*/
int
status()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return PX4_ERROR;
}
g_dev->print_info();
return PX4_OK;
}
/**
* Stop the driver.
*/
int
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
PX4_INFO("driver stopped");
return PX4_OK;
}
/**
* Print usage information about the driver.
*/
int
usage()
{
PX4_INFO("Usage: mappydot <command> [options]");
PX4_INFO("options:");
PX4_INFO("\t-a --all");
PX4_INFO("\t-b --bus i2cbus (%i)", MAPPYDOT_BUS_DEFAULT);
PX4_INFO("command:");
PX4_INFO("\tstart|start_bus|status|stop");
return PX4_OK;
}
} // namespace mappydot
/**
* Driver 'main' command.
*/
extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
{
const char *myoptarg = nullptr;
int ch;
int i2c_bus = MAPPYDOT_BUS_DEFAULT;
int myoptind = 1;
bool start_all = false;
while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
start_all = true;
break;
case 'b':
i2c_bus = atoi(myoptarg);
break;
default:
PX4_WARN("Unknown option!");
return mappydot::usage();
}
}
if (myoptind >= argc) {
return mappydot::usage();
}
if (!strcmp(argv[myoptind], "start")) {
if (start_all) {
return mappydot::start();
} else {
return mappydot::start_bus(i2c_bus);
}
}
// Print the driver status.
if (!strcmp(argv[myoptind], "status")) {
return mappydot::status();
}
// Stop the driver.
if (!strcmp(argv[myoptind], "stop")) {
return mappydot::stop();
}
// Print driver usage information.
return mappydot::usage();
}

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src/drivers/distance_sensor/mappydot/parameters.c Normal file
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/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
* Enable Mappydot rangefinder (i2c)
*
* @reboot_required true
* @min 0
* @max 1
* @group Sensors
* @value 0 Disabled
* @value 1 Autodetect
*/
PARAM_DEFINE_INT32(SENS_EN_MPDT, 0);
/**
* MappyDot Sensor 0 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT0_ROT, 0);
/**
* MappyDot Sensor 1 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT1_ROT, 0);
/**
* MappyDot Sensor 2 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT2_ROT, 0);
/**
* MappyDot Sensor 3 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT3_ROT, 0);
/**
* MappyDot Sensor 4 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT4_ROT, 0);
/**
* MappyDot Sensor 5 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT5_ROT, 0);
/**
* MappyDot Sensor 6 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT6_ROT, 0);
/**
* MappyDot Sensor 7 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT7_ROT, 0);
/**
* MappyDot Sensor 8 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT8_ROT, 0);
/**
* MappyDot Sensor 9 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT9_ROT, 0);
/**
* MappyDot Sensor 10 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0);
/**
* MappyDot Sensor 12 Rotation
*
* This parameter defines the rotation of the Mappydot sensor relative to the platform.
*
* @reboot_required true
* @min 0
* @max 7
* @group Sensors
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*/
PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0);