added sf45 as a seperate rangefinder #3448
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Claudio-Chies
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Claudio-Chies
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This is IMO ready when your PR is ready - thanks very much!!! I did some restructure to make the new rangefinder doc a sub-doc - that allows us to expand the structure if we want in future. Note that the build error can be ignored. It happens because I moved one of the image files alongside the other, and the existing translations depend on that location. This will be fixed after merging by crowdin. |
hamishwillee
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Claudio-Chies
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I've separately added a PR the lanbao, so that this isn't mixed in with this PR about #3487 |
hamishwillee
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| <video src="../../assets/hardware/sensors/lidar_lightware/sf45_plotjuggler.mp4" width="720" controls></video> | ||
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| In order to generate this kind of plot you will need to add the following Reactive Scripts to PlotJuggler. |
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What is a Reactive Script? Is there a good link to a definition we can add here for someone wanting to learn more?
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Reactive scripts are Lua scripts inside plot juggler, sadly the documentation for PlotJuggler is severely lacking. So there's no good source on what it actually is.
| In order to generate this kind of plot you will need to add the following Reactive Scripts to PlotJuggler. | ||
| If you save these scripts and then add new data, you will see a new timeseries called `obstacle_distance_xy`, which is the same as is displayed in the video. | ||
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| **Global code, executed once:** |
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Is it bleedingly obvious how you execute/add these scripts? If not then we need to either add a link to instructions or explain how here. Up to you which.
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Sadly not, i'll add a screenshot, and mention where the setting is.
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| Debugging problems with distance sensors is much easier if you can plot the [OBSTACLE_DISTANCE](https://mavlink.io/en/messages/common.html#OBSTACLE_DISTANCE) message in an x-y plot, because this lets you directly see the orientation of the measurement in respect of the drone. | ||
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| The video below shows how you can view such a plot in PlotJuggler. |
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I assume this is a live view as per https://docs.px4.io/main/en/debug/plotting_realtime_uorb_data.html ?
Can we link to this too?
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no, currently its just a log replay. i found a way you can adapt the script to use for realtime debugging with it, i can write the code for it in collision prevention in a seperate PR
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Cool! I merged #3492 so can you try integrate the changes here now that exists?
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Can we get the video on PX4 youtube and link it. The file is not huge, but obviously it is cheaper if authors don't have to download it for local editing |
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a video of the SF45. the plotjuggler layout or of the drone flying? |
The plotjuggler layout. Sorted by the other PR probably. |
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@hamishwillee how could I get the video onto PX4 YouTube? |
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You want the one in this PR too? I can upload it for you if you want? |
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Might make sense to keep the filesize low? i think here its a good visualisation on how the sensor operates |
Claudio-Chies
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No wo;rries. File is uploading. Link will be https://youtu.be/VwEd_7aiLEo |
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No flaws found |
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