Plane: add As5600 angle-of-attack sensor #16795

colejmero · 2021-03-03T03:53:19Z

Branch would add library for AS5600 sensor to allow reading of angles.

peterbarker

mav_0_1.parm has to be removed - and all the others you've added. Generally avoid using "git commit -a" if that's how they got in.

I've skipped the commented out blocks.

Bit of work to be done here, but little to make it safe for flight.

ArduPlane/ArduPlane.cpp

ArduPlane/Plane.h

ArduPlane/wscript

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

libraries/AP_AS5600_AOA/AS5600_AOA.h

rmackay9 · 2021-03-03T04:25:11Z

In keeping with our regular conventions it would be good to prefix the commits with the vehicle, library or directory being modified.

For example the first commit should probably be renamed, "Plane: adds AS5600 library"

IamPete1 · 2021-03-03T13:20:49Z

I don't want to feature creep you to much, but it would be great to have a generic backed for this sensor. AP_Encoder or similar. The has been some interest in using them for sailboat windvanes, wheel encoders on rover also jump to mind.

peterbarker · 2021-03-03T23:37:24Z

On Wed, 3 Mar 2021, Peter Hall wrote: I don't want to feature creep you to much, but it would be great to have a generic backed for this sensor. AP_Encoder or similar. The has been some interest in using them for sailboat windvanes, wheel encoders on rover also jump to mind.

This will probably end up in AP_AOA/AP_AOA_AS5600.h etc - is that near enough to what you had in mind? ... and "AP_Encoder"?! Really? :-P

peterbarker

Remove stray files.

Lots of unimplemented methods and unused state in the object not commented on as I believe you wanted to flesh this stuff out.

peterbarker · 2021-03-11T00:32:49Z

ArduPlane/ArduPlane.cpp

+/*
+ * Read and log Angle of Attack
+ */
+
+//void Plane::read_aoa(void){
+//    aoa_sensor.getRawAngle();
+//}
+


peterbarker · 2021-03-11T00:34:13Z

ArduPlane/system.cpp

@@ -67,6 +67,9 @@ void Plane::init_ardupilot()

    rpm_sensor.init();

+    //initialise AS5600_AOA sensor


Suggested change

//initialise AS5600_AOA sensor

//initialise Angle Of Attack sensor

peterbarker · 2021-03-11T00:34:31Z

ArduPlane/wscript

@@ -29,6 +29,7 @@ def build(bld):
            'AP_Devo_Telem',
            'AP_OSD',
            'AC_AutoTune',
+            'AP_AS5600_AOA',


Suggested change

'AP_AS5600_AOA',

'AP_AngleOfAttack',

Before merge we'll need to rename this library so we can support more sensors into the future.

Related changes not mentioned in this review.

peterbarker · 2021-03-11T00:36:17Z

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

@@ -0,0 +1,177 @@
+/****************************************************


This file will become
libraries/AP_AngleOfAttack/AP_AngleOfAttack_AS5600.cpp

(it's possible people will actually prefer AP_AOA/AP_AOA_AS5600.cpp - @WickedShell ? )

peterbarker · 2021-03-11T00:36:42Z

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

+ * access the AS5600 magnetic encoder sensor to
+ * read the angle of attack and record it for experimental purposes
+ *
+ * It was adapted from the Arduino library available for the AS5600 sensor.


Nice to give a link to the original implementation here.

peterbarker · 2021-03-11T00:38:51Z

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

+/*******************************************************
+ * Method: getRawAngle
+ * In: none
+ * Out: value of raw angle register


Not accurate.

peterbarker · 2021-03-11T00:39:32Z

libraries/AP_AS5600_AOA/AS5600_AOA.h

+//
+//    int  _zmco;
+//    int _zpos_hi;    /*zpos[11:8] high nibble  START POSITION */
+//    int _zpos_lo;    /*zpos[7:0] */
+//    int _mpos_hi;    /*mpos[11:8] high nibble  STOP POSITION */
+//    int _mpos_lo;    /*mpos[7:0] */
+//    int _mang_hi;    /*mang[11:8] high nibble  MAXIMUM ANGLE */
+//    int _mang_lo;    /*mang[7:0] */
+//    int _conf_hi;
+//    int _conf_lo;
+//    int _raw_ang_hi;
+//    int _raw_ang_lo;
+//    int _ang_hi;
+//    int _ang_lo;
+//    int _stat;
+//    int _agc;
+//    int _mag_hi;
+//    int _mag_lo;
+//    int _burn;
+


peterbarker · 2021-03-11T00:41:01Z

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

+  WITH_SEMAPHORE(dev->get_semaphore());
+
+  //uint16_t angleRaw = readTwoBytes(REG_RAW_ANG_HI, REG_RAW_ANG_LO);
+  if (!dev->read_registers(REG_RAW_ANG_HI, &highByte, 1) || !dev->read_registers(REG_RAW_ANG_LO, &lowByte, 1)){
+      return;
+  }


Can't do this in the main thread. If something goes wrong with the i2c bus then your Plane falls out of the sky (or worse).

You do need to take a semaphore here - but one to protect data shared between this and a thread which is doing this i2c bus operation.

I've put a patch here which shows that: https://github.com/peterbarker/ardupilot/commits/colejmero-corem

peterbarker · 2021-03-11T00:42:17Z

libraries/SITL/SIM_AS5600.h

+
+
+


Stray whitespace.

peterbarker · 2021-03-11T01:00:28Z

libraries/AP_AS5600_AOA/AS5600_AOA.cpp

+    }
+
+    WITH_SEMAPHORE(dev->get_semaphore());
+    dev->set_speed(AP_HAL::Device::SPEED_LOW);


We should be looking for a WHOAMI register here to make sure we're talking to who we're supposed to be talking to.

peterbarker · 2023-05-18T01:04:52Z

Closing in favour of #16397

colejmero and others added 5 commits February 23, 2021 01:37

Adds AS5600 library

c2fbc83

SITL: add simulated AS5600 sensor

a5f0f81

Minor changes

da95f43

Solves AS5600 communication issue on SITL

20ed5a4

Removes unecessary code

f223c83

peterbarker requested changes Mar 3, 2021

View reviewed changes

rmackay9 changed the title ~~PR for review.~~ Plane: add As5600 angle-of-attack sensor Mar 3, 2021

rmackay9 added the Enhancement label Mar 3, 2021

colejmero added 2 commits March 5, 2021 01:21

Commit for peter to review

f24e111

Adds recommended changes from previous PR review

c26e328

peterbarker requested changes Mar 11, 2021

View reviewed changes

colejmero force-pushed the corem branch from 59e5693 to c26e328 Compare March 11, 2021 22:44

peterbarker and others added 3 commits March 11, 2021 17:52

AP_AS5600_AOA: use a thread to read AOA sensor

82225f8

AS5600: Commit for Peter to review bug

892bb6e

AS5600: Adds line forgoten from previous commit

43c25dd

peterbarker closed this May 18, 2023

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Plane: add As5600 angle-of-attack sensor #16795

Plane: add As5600 angle-of-attack sensor #16795

colejmero commented Mar 3, 2021

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peterbarker commented May 18, 2023

		@@ -67,6 +67,9 @@ void Plane::init_ardupilot()

		rpm_sensor.init();

		//initialise AS5600_AOA sensor

	//initialise AS5600_AOA sensor
	//initialise Angle Of Attack sensor

		@@ -0,0 +1,177 @@
		/****************************************************

Plane: add As5600 angle-of-attack sensor #16795

Plane: add As5600 angle-of-attack sensor #16795

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peterbarker commented May 18, 2023