drivers: Add LeddarOne lidar driver

More information: https://leddartech.com/modules/leddarone/

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -415,6 +415,27 @@ then
 	fi
 fi
 
+# LeddarOne
+if param greater SENS_EN_LEDDAR1 0
+then
+	if ver hwcmp PX4FMU_V3
+	then
+		# start the driver on serial 4/5
+		leddar_one -d /dev/ttyS6 start
+	else
+	if ver hwcmp AEROFC_V1
+	then
+		# start the driver on telemetry
+		leddar_one -d /dev/ttyS3 start
+	else
+		if param compare SYS_COMPANION 0
+		then
+			# start on default mavlink companion device
+			leddar_one -d /dev/ttyS2 start
+		fi
+	fi
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 sensors start

src/drivers/distance_sensor/CMakeLists.txt

@@ -41,3 +41,4 @@ add_subdirectory(srf02_i2c)
 add_subdirectory(teraranger)
 add_subdirectory(tfmini)
 add_subdirectory(ulanding)
+add_subdirectory(leddar_one)

src/drivers/distance_sensor/leddar_one/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2017  Intel Corporation. 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__leddar_one
+	MAIN leddar_one
+	STACK_MAIN 1200
+	SRCS
+		leddar_one.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/sensors/sensor_params.c

@@ -334,3 +334,13 @@ PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
  * @group Sensors
  */
 PARAM_DEFINE_INT32(SENS_EN_TFMINI, 0);
+
+/**
+ * LeddarOne rangefinder
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_EN_LEDDAR1, 0);