LD06 Proximity Sensor Integration

[Adithya-Patil]

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

[hendjoshsr71]

Hello! thanks for this contribution it is a good start especailly if you are new to C++!

Have you tested this yet?
Looks like it is failing to compile on Durandal. Do you have your development environment setup to compile it?

You will need to add the new driver to the enum here

ardupilot/libraries/AP_Proximity/AP_Proximity.h

Line 63 in 8a7a22e

CYGBOT_D1 = 13,

You need to call the detect() method as as it stands right now the compiler may not be pulling in any of this code.

Add the call to detect around here in AP_Proximity.cpp:

ardupilot/libraries/AP_Proximity/AP_Proximity.cpp

Line 356 in 8a7a22e

Add to the Param Description here:

ardupilot/libraries/AP_Proximity/AP_Proximity.cpp

Line 39 in 8a7a22e

// @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1

We should also add #if AP_PROXIMITY_LD06_ENABLED so users can decide to compile it in or not.

You aren't checking the CRC packets?

There is more here to do .... but these are starts especially the compiling bit.

Closes #17211

[hendjoshsr71]

Some more review but I didn't get to the CPP yet so bug me again about it. Maybe after you've done some testing on your end.

[hendjoshsr71]

Lots of stylistic nitpicks.

And some small cleanups but I don't see any glaring reason why you get the difference in output in your GCS_Send_TEXT vs MissionPLanner's GUI tool.

[hendjoshsr71]

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.

[Adithya-Patil]

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

[hendjoshsr71]

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.

[rishabsingh3003]

Thanks for this @Adithya-Patil! Overall looks great. One thing that I can't immediately find in the driver is the use of PRX_YAW_CORR to correct for devices that are not connected facing forward?
An easy way to test would be to change PRX_ORIENT and PRX_YAW_CORR and see if they reflect correctly in your driver? I think we have missed this in some of our earlier drivers and needs to be addressed for them as well.

[tatsuy]

I tested this with LD06.
Once the log started, it stopped working.
I think this change will solve the problem.

[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

[lvale]

@rishabsingh3003 When can you check the logs?

[rmackay9]

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

[tridge]

rebase

stale review

stale review

[tridge]

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

[peterbarker]

Those defines are actually a problem and may lead to compilation failures (particularly in the test_build_options.py script

[rishabsingh3003]

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

[rishabsingh3003]

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

[lvale]

@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

Stale

waiting for too long, Luis has tested this driver a lot

[peterbarker]

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