AP_Proximity: Add support for MR72 CAN #25801
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rishabsingh3003
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tridge
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Dec 27, 2023
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This has now been well tested by me and NanoRadar |
IamPete1
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Feb 5, 2024
IamPete1
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rmackay9
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Feb 5, 2024
| @@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = { | |||
| // @Param: _TYPE | |||
| // @DisplayName: Proximity type | |||
| // @Description: What type of proximity sensor is connected | |||
| // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06 | |||
| // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17: MR72_CAN | |||
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nitpick: no need for the space after the ":". not a blocker, sorry to be annoying, just my OCD.
Ryanf55
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Feb 5, 2024
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| Vector2f obstacle_fr; | ||
| // This parsing comes from the NanoRadar MR72 datasheet | ||
| obstacle_fr.x = ((frame.data[2] & 0x07U) * 256 + frame.data[3]) * 0.2 - 204.6; |
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Is there a segfault risk if the CANFrame is shorter length than expected?
rmackay9
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Feb 5, 2024
| const AP_Param::GroupInfo AP_Proximity_MR72_CAN::var_info[] = { | ||
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| // @Param: RECV_ID | ||
| // @DisplayName: CAN receive ID |
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Just regarding naming, "receive" is in the eye of the beholder -- one person's receive is another person's send so it doesn't add much clarity. maybe call it CAN_ID or just "ID".
rmackay9
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Feb 5, 2024
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This adds support for the CAN variant of MR72.
http://en.nanoradar.cn/Article/detail/id/488.html