diff --git a/conf/abi.xml b/conf/abi.xml index d05b9cb76b..cd21c04257 100644 --- a/conf/abi.xml +++ b/conf/abi.xml @@ -59,10 +59,10 @@ - Flow in x direction from the camera (in subpixels) - Flow in y direction from the camera (in subpixels) - The derotated flow calculation in the x direction (in subpixels) - The derotated flow calculation in the y direction (in subpixels) + Flow in x direction from the camera (in subpixels) + Flow in y direction from the camera (in subpixels) + The derotated flow calculation in the x direction (in subpixels) + The derotated flow calculation in the y direction (in subpixels) Divergence as determined with the size method (in 1/seconds) with LK, and Divergence (1/seconds) itself with EF diff --git a/conf/modules/optical_flow_mateksys_3901_l0x.xml b/conf/modules/optical_flow_mateksys_3901_l0x.xml new file mode 100644 index 0000000000..5cb0921205 --- /dev/null +++ b/conf/modules/optical_flow_mateksys_3901_l0x.xml @@ -0,0 +1,55 @@ + + + + + + + Transfers flow X and Y and range data of the Mateksys3901-l0X sensor to the autopilot + This by the default serial connection not by connecting the debug pins on ther sensor + The Data is in MSP compatible output. + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c new file mode 100644 index 0000000000..1da70121e5 --- /dev/null +++ b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c @@ -0,0 +1,345 @@ +/* + * Copyright (C) 2020 Paparazzi Team + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** @file modules/optical_flow/mateksys_3901_l0x.h + * @brief Driver for the mateksys_3901_l0x sensor via MSP protocol output + * + */ + +#include "mateksys_3901_l0x.h" +#include "mcu_periph/uart.h" +#include "subsystems/abi.h" + +// State interface for rotation compensation +#include "state.h" + +// Messages +#include "pprzlink/messages.h" +#include "subsystems/datalink/downlink.h" + + +// Define configuration parameters +#ifndef MATEKSYS_3901_L0X_MOTION_THRES +#define MATEKSYS_3901_L0X_MOTION_THRES +#endif + +#ifndef MATEKSYS_3901_L0X_DISTANCE_THRES +#define MATEKSYS_3901_L0X_DISTANCE_THRES +#endif + +#ifndef USE_MATEKSYS_3901_L0X_AGL +#define USE_MATEKSYS_3901_L0X_AGL +#endif + +#ifndef USE_MATEKSYS_3901_L0X_OPTICAL_FLOW +#define USE_MATEKSYS_3901_L0X_OPTICAL_FLOW +#endif + +#ifndef MATEKSYS_3901_L0X_COMPENSATE_ROTATION +#define MATEKSYS_3901_L0X_COMPENSATE_ROTATION +#endif + +struct Mateksys3901l0X mateksys3901l0x = { + .parse_status = MATEKSYS_3901_L0X_INITIALIZE +}; + +static void mateksys3901l0x_parse(uint8_t byte); + +#if PERIODIC_TELEMETRY +#include "subsystems/datalink/telemetry.h" + +/** + * Downlink message flow and lidar (included velocity estimation, not yet tested) + */ +static void mateksys3901l0x_send_optical_flow(struct transport_tx *trans, struct link_device *dev) +{ + pprz_msg_send_OPTICAL_FLOW(trans, dev, AC_ID, + &mateksys3901l0x.time_sec, + &mateksys3901l0x.sensor_id, + &mateksys3901l0x.motionX_clean, + &mateksys3901l0x.motionY_clean, + &mateksys3901l0x.velocityX, + &mateksys3901l0x.velocityY, + &mateksys3901l0x.motion_quality, + &mateksys3901l0x.distance_clean, + &mateksys3901l0x.distancemm_quality); +} + +#endif + +/** + * Initialization function + */ +void mateksys3901l0x_init(void) +{ + mateksys3901l0x.device = &((MATEKSYS_3901_L0X_PORT).device); + mateksys3901l0x.parse_crc = 0; + mateksys3901l0x.motion_quality = 0; + mateksys3901l0x.motionX = 0; + mateksys3901l0x.motionY = 0; + mateksys3901l0x.distancemm_quality = 0; + mateksys3901l0x.distancemm = 0; + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + +#if PERIODIC_TELEMETRY + register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_OPTICAL_FLOW, mateksys3901l0x_send_optical_flow); +#endif +} + +/** + * Receive bytes from the UART port and parse them + */ +void mateksys3901l0x_event(void) +{ + while (mateksys3901l0x.parse_status != MATEKSYS_3901_L0X_INITIALIZE && mateksys3901l0x.device->char_available(mateksys3901l0x.device->periph)) { + mateksys3901l0x_parse(mateksys3901l0x.device->get_byte(mateksys3901l0x.device->periph)); + } +} + +/** + * Parse the sensor MSP output bytes 1 by 1 + */ +static void mateksys3901l0x_parse(uint8_t byte) +{ + + switch (mateksys3901l0x.parse_status) { + case MATEKSYS_3901_L0X_INITIALIZE: + break; + + case MATEKSYS_3901_L0X_PARSE_HEAD: // MSP general header $ + if (byte == 0x24) { + mateksys3901l0x.parse_status++; + } + break; + + case MATEKSYS_3901_L0X_PARSE_HEAD2: // MSPv2 identifier X + if (byte == 0x58) { + mateksys3901l0x.parse_status++; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_DIRECTION: // direction < + if (byte == 0x3C) { + mateksys3901l0x.parse_status++; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_LENGTH: // set to 0 + if (byte == 0x00) { + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1: // 0x01 = rangefinder; 0x02 = opticalflow + if (byte == 0x01 || byte == 0x02) { + mateksys3901l0x.sensor_id = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2: // sensor id pointer + if (byte == 0x1F) { + mateksys3901l0x.parse_status++; + mateksys3901l0x.parse_crc += byte; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_SIZE: // two fixed sizes are expected if message is + if (byte == 0x05 || byte == 0x09) { + mateksys3901l0x.parse_status++; + mateksys3901l0x.parse_crc += byte; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + case MATEKSYS_3901_L0X_PARSE_POINTER: // should be zero, used to redirect to motion parsing or lidar parsing + if (mateksys3901l0x.sensor_id == 0x01) { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY; + } else if (mateksys3901l0x.sensor_id == 0x02) { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY; + } else { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } + break; + + // rangefinder data parsing + case MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY: + mateksys3901l0x.distancemm_quality = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_DISTANCE_B1: + if (mateksys3901l0x.distancemm_quality <= MATEKSYS_3901_L0X_DISTANCE_THRES) { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } else { + mateksys3901l0x.distancemm = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + } + break; + + case MATEKSYS_3901_L0X_PARSE_DISTANCE_B2: + mateksys3901l0x.distancemm |= (byte << 8); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_DISTANCE_B3: + mateksys3901l0x.distancemm |= (byte << 16); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_DISTANCE_B4: + mateksys3901l0x.distancemm |= (byte << 24); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_CHECKSUM; + break; + + // optical flow data parsing + case MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY: + mateksys3901l0x.motion_quality = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONY_B1: + if (mateksys3901l0x.motion_quality <= MATEKSYS_3901_L0X_MOTION_THRES) { + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + } else { + mateksys3901l0x.motionY = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + } + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONY_B2: + mateksys3901l0x.motionY |= (byte << 8); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONY_B3: + mateksys3901l0x.motionY |= (byte << 16); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONY_B4: + mateksys3901l0x.motionY |= (byte << 24); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONX_B1: + mateksys3901l0x.motionX = byte; + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONX_B2: + mateksys3901l0x.motionX |= (byte << 8); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONX_B3: + mateksys3901l0x.motionX |= (byte << 16); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_MOTIONX_B4: + mateksys3901l0x.motionX |= (byte << 24); + mateksys3901l0x.parse_crc += byte; + mateksys3901l0x.parse_status++; + break; + + case MATEKSYS_3901_L0X_PARSE_CHECKSUM: + + // When the distance and motion info are valid (max values based on sensor specifications)... + if (mateksys3901l0x.distancemm > 0 && mateksys3901l0x.distancemm <= 3000 && abs(mateksys3901l0x.motionX) <= 300 && abs(mateksys3901l0x.motionY) <= 300) { + // ... compensate AGL measurement for body rotation + if (MATEKSYS_3901_L0X_COMPENSATE_ROTATION) { + float phi = stateGetNedToBodyEulers_f()->phi; + float theta = stateGetNedToBodyEulers_f()->theta; + float gain = (float)fabs((double)(cosf(phi) * cosf(theta))); + mateksys3901l0x.distancemm = mateksys3901l0x.distancemm * gain; + } + + // send messages with no error measurements + mateksys3901l0x.distance_clean = mateksys3901l0x.distancemm/1000.f; + mateksys3901l0x.motionX_clean = mateksys3901l0x.motionX; + mateksys3901l0x.motionY_clean = mateksys3901l0x.motionY; + + // estimate velocity and send it to telemetry + mateksys3901l0x.velocityX = mateksys3901l0x.distance_clean * sin(RadOfDeg(mateksys3901l0x.motionX_clean)); + mateksys3901l0x.velocityY = mateksys3901l0x.distance_clean * sin(RadOfDeg(mateksys3901l0x.motionY_clean)); + + // get ticks + uint32_t now_ts = get_sys_time_usec(); + mateksys3901l0x.time_sec = now_ts*1e-6; + + // send AGL (if requested) + if (USE_MATEKSYS_3901_L0X_AGL) { + AbiSendMsgAGL(AGL_LIDAR_MATEKSYS_3901_L0X_ID, + now_ts, + mateksys3901l0x.distance_clean); + } + + // send optical flow (if requested) + if (USE_MATEKSYS_3901_L0X_OPTICAL_FLOW) { + AbiSendMsgOPTICAL_FLOW(FLOW_OPTICFLOW_MATEKSYS_3901_L0X_ID, + now_ts, + mateksys3901l0x.motionX_clean, + mateksys3901l0x.motionY_clean, + 0, + 0, + mateksys3901l0x.motion_quality, + 0.0); + } + } + // Start reading again + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + break; + + default: + // Error, return to start + mateksys3901l0x.parse_status = MATEKSYS_3901_L0X_PARSE_HEAD; + break; + + } +} diff --git a/sw/airborne/modules/optical_flow/mateksys_3901_l0x.h b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.h new file mode 100644 index 0000000000..c2ff0beaa6 --- /dev/null +++ b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.h @@ -0,0 +1,99 @@ +/* + * Copyright (C) 2020 Paparazzi Team + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** @file modules/optical_flow/mateksys_3901_l0x.h + * @brief Driver for the mateksys_3901_l0x sensor via MSPx protocol output + * + */ + +/* +Since the is no official MSP2 nor MSP1 message definition we choose for time being that +the IDs to be compatible with INAV as see here +https://github.com/iNavFlight/inav/blob/master/src/main/msp/msp_protocol_v2_sensor.h +https://github.com/iNavFlight/inav/wiki/MSP-V2 +*/ + +#ifndef MATEKSYS_3901_L0X_H +#define MATEKSYS_3901_L0X_H + +#include "std.h" +#include "stdbool.h" +//#include "filters/median_filter.h" //Who knows we need it ;) + +#define MSP2_IS_SENSOR_MESSAGE(x) ((x) >= 0x1F00 && (x) <= 0x1FFF) + +#define MSP2_SENSOR_RANGEFINDER 0x1F01 +#define MSP2_SENSOR_OPTIC_FLOW 0x1F02 + +enum Mateksys3901l0XParseStatus { + MATEKSYS_3901_L0X_INITIALIZE, // initialization + MATEKSYS_3901_L0X_PARSE_HEAD, + MATEKSYS_3901_L0X_PARSE_HEAD2, + MATEKSYS_3901_L0X_PARSE_DIRECTION, + MATEKSYS_3901_L0X_PARSE_LENGTH, + MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1, + MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2, + MATEKSYS_3901_L0X_PARSE_SIZE, + MATEKSYS_3901_L0X_PARSE_POINTER, // ?? + MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY, // used if lidar message + MATEKSYS_3901_L0X_PARSE_DISTANCE_B1, + MATEKSYS_3901_L0X_PARSE_DISTANCE_B2, + MATEKSYS_3901_L0X_PARSE_DISTANCE_B3, + MATEKSYS_3901_L0X_PARSE_DISTANCE_B4, + MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY, // used if flow message + MATEKSYS_3901_L0X_PARSE_MOTIONY_B1, + MATEKSYS_3901_L0X_PARSE_MOTIONY_B2, + MATEKSYS_3901_L0X_PARSE_MOTIONY_B3, + MATEKSYS_3901_L0X_PARSE_MOTIONY_B4, + MATEKSYS_3901_L0X_PARSE_MOTIONX_B1, + MATEKSYS_3901_L0X_PARSE_MOTIONX_B2, + MATEKSYS_3901_L0X_PARSE_MOTIONX_B3, + MATEKSYS_3901_L0X_PARSE_MOTIONX_B4, + MATEKSYS_3901_L0X_PARSE_CHECKSUM, +}; + +struct Mateksys3901l0X { + struct link_device *device; + enum Mateksys3901l0XParseStatus parse_status; + float time_sec; + uint8_t sensor_id; + uint8_t motion_quality; + int32_t motionX; + int32_t motionY; + int32_t motionX_clean; + int32_t motionY_clean; + uint8_t distancemm_quality; + int32_t distancemm; + float distance_clean; + float velocityX; + float velocityY; + uint8_t parse_crc; +}; + +extern struct Mateksys3901l0X mateksys3901l0x; + +extern void mateksys3901l0x_init(void); +extern void mateksys3901l0x_event(void); +extern void mateksys3901l0x_downlink(void); + +#endif /* MATEKSYS_3901_L0X_H */ + diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c index 04d90ba5e3..d12dd9e209 100644 --- a/sw/airborne/modules/optical_flow/px4flow.c +++ b/sw/airborne/modules/optical_flow/px4flow.c @@ -162,15 +162,17 @@ void px4flow_init(void) void px4flow_downlink(void) { static float timestamp = 0; + static float distance_quality = 0; timestamp = ((float)optical_flow.time_usec) * 0.000001; - DOWNLINK_SEND_PX4FLOW(DefaultChannel, DefaultDevice, - ×tamp, - &optical_flow.sensor_id, - &optical_flow.flow_x, - &optical_flow.flow_y, - &optical_flow.flow_comp_m_x, - &optical_flow.flow_comp_m_y, - &optical_flow.quality, - &optical_flow.ground_distance); + DOWNLINK_SEND_OPTICAL_FLOW(DefaultChannel, DefaultDevice, + ×tamp, + &optical_flow.sensor_id, + &optical_flow.flow_x, + &optical_flow.flow_y, + &optical_flow.flow_comp_m_x, + &optical_flow.flow_comp_m_y, + &optical_flow.quality, + &optical_flow.ground_distance, + &distance_quality); } diff --git a/sw/airborne/modules/optical_flow/px4flow.h b/sw/airborne/modules/optical_flow/px4flow.h index 68504591df..8050d1b5cb 100644 --- a/sw/airborne/modules/optical_flow/px4flow.h +++ b/sw/airborne/modules/optical_flow/px4flow.h @@ -47,8 +47,8 @@ struct mavlink_optical_flow { float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated [meters/sec] float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated [meters/sec] float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - int16_t flow_x; ///< Flow in pixels in x-sensor direction - int16_t flow_y; ///< Flow in pixels in y-sensor direction + int32_t flow_x; ///< Flow in pixels in x-sensor direction + int32_t flow_y; ///< Flow in pixels in y-sensor direction uint8_t sensor_id; ///< Sensor ID uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality }; diff --git a/sw/airborne/modules/optical_flow/px4flow_i2c.c b/sw/airborne/modules/optical_flow/px4flow_i2c.c index 40c5820473..48ebf6f397 100644 --- a/sw/airborne/modules/optical_flow/px4flow_i2c.c +++ b/sw/airborne/modules/optical_flow/px4flow_i2c.c @@ -267,10 +267,11 @@ void px4flow_i2c_downlink(void) uint8_t id = PX4FLOW_I2C_ID; float timestamp = get_sys_time_float(); + static float distance_quality = 0; #if REQUEST_INT_FRAME - int16_t flow_x = px4flow.i2c_int_frame.pixel_flow_x_integral; - int16_t flow_y = px4flow.i2c_int_frame.pixel_flow_y_integral; + int32_t flow_x = px4flow.i2c_int_frame.pixel_flow_x_integral; + int32_t flow_y = px4flow.i2c_int_frame.pixel_flow_y_integral; float flow_comp_m_x = 0.0; float flow_comp_m_y = 0.0; @@ -278,8 +279,8 @@ void px4flow_i2c_downlink(void) uint8_t quality = px4flow.i2c_int_frame.qual; float ground_distance = ((float)px4flow.i2c_int_frame.ground_distance) / 1000.0; #else - int16_t flow_x = px4flow.i2c_frame.pixel_flow_x_sum; - int16_t flow_y = px4flow.i2c_frame.pixel_flow_y_sum; + int32_t flow_x = px4flow.i2c_frame.pixel_flow_x_sum; + int32_t flow_y = px4flow.i2c_frame.pixel_flow_y_sum; float flow_comp_m_x = ((float)px4flow.i2c_frame.flow_comp_m_x) / 1000.0; float flow_comp_m_y = ((float)px4flow.i2c_frame.flow_comp_m_y) / 1000.0; @@ -288,13 +289,14 @@ void px4flow_i2c_downlink(void) float ground_distance = ((float)px4flow.i2c_frame.ground_distance) / 1000.0; #endif - DOWNLINK_SEND_PX4FLOW(DefaultChannel, DefaultDevice, - ×tamp, - &id, - &flow_x, - &flow_y, - &flow_comp_m_x, - &flow_comp_m_y, - &quality, - &ground_distance); + DOWNLINK_SEND_OPTICAL_FLOW(DefaultChannel, DefaultDevice, + ×tamp, + &id, + &flow_x, + &flow_y, + &flow_comp_m_x, + &flow_comp_m_y, + &quality, + &ground_distance, + &distance_quality); } diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h index 4854ed38de..c3fc075be7 100644 --- a/sw/airborne/subsystems/abi_sender_ids.h +++ b/sw/airborne/subsystems/abi_sender_ids.h @@ -181,6 +181,10 @@ #define AGL_LIDAR_TFMINI_I2C_ID 14 #endif +#ifndef AGL_LIDAR_MATEKSYS_3901_L0X_ID +#define AGL_LIDAR_MATEKSYS_3901_L0X_ID 15 +#endif + /* * IDs of magnetometer sensors (including IMUs with mag) */ @@ -367,6 +371,10 @@ #define FLOW_OPTICFLOW_PMW3901_ID 3 #endif +#ifndef FLOW_OPTICFLOW_MATEKSYS_3901_L0X_ID +#define FLOW_OPTICFLOW_MATEKSYS_3901_L0X_ID 4 +#endif + /* * IDs of VELOCITY estimates (message 12) */ diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink index 46c4c210ac..da37238464 160000 --- a/sw/ext/pprzlink +++ b/sw/ext/pprzlink @@ -1 +1 @@ -Subproject commit 46c4c210ac5e3d1ee49d36a174a3555b29a37196 +Subproject commit da372384642233cf4e3e86aeebbabbb042991149