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send signal_quality via mavlink #34

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send signal_quality via mavlink #34

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2a6016e
send signal_quality via mavlink
Williangalvani Sep 21, 2023
61d962c
expose confidence cutoff api
Williangalvani Feb 14, 2024
dbdb04a
increase max range in DISTANCE_SENSOR message template
Williangalvani Feb 14, 2024
5f497aa
update frontend to handle confidence cutoff
Williangalvani Feb 14, 2024
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15 changes: 14 additions & 1 deletion dvl-a50/dvl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ class DvlDriver(threading.Thread):
last_temperature_check_time = 0
temperature_check_interval_s = 30
temperature_too_hot = 45
confidence_cutoff = 0
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I'm a bit confused as to why this is 0 if the default is 80 - I think it could make more sense to specify a meaningful value here and then use that as the fallback when loading settings.


def __init__(self, orientation=DVL_DOWN) -> None:
threading.Thread.__init__(self)
Expand All @@ -88,6 +89,7 @@ def load_settings(self) -> None:
self.origin = data["origin"]
self.rangefinder = data["rangefinder"]
self.should_send = data["should_send"]
self.confidence_cutoff = data.get("confidence_cutoff", 80)
logger.debug("Loaded settings: ", data)
except FileNotFoundError:
logger.warning("Settings file not found, using default.")
Expand Down Expand Up @@ -120,6 +122,7 @@ def ensure_dir(file_path) -> None:
"hostname": self.hostname,
"rangefinder": self.rangefinder,
"should_send": self.should_send,
"confidence_cutoff": self.confidence_cutoff,
}
)
)
Expand All @@ -136,6 +139,7 @@ def get_status(self) -> dict:
"origin": self.origin,
"rangefinder": self.rangefinder,
"should_send": self.should_send,
"confidence_cutoff": self.confidence_cutoff,
}

@property
Expand Down Expand Up @@ -273,6 +277,14 @@ def set_enabled(self, enable: bool) -> bool:
self.save_settings()
return True

def set_confidence_cutoff(self, cutoff: int) -> bool:
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does it make sense to return a value at all ?

"""
Enables/disables the driver
"""
self.confidence_cutoff = max(5, min(100, cutoff))
self.save_settings()
return True

def set_use_as_rangefinder(self, enable: bool) -> bool:
"""
Enables/disables DISTANCE_SENSOR messages
Expand Down Expand Up @@ -382,7 +394,8 @@ def handle_velocity(self, data: Dict[str, Any]) -> None:
return

if self.rangefinder and alt > 0.05:
self.mav.send_rangefinder(alt)
if confidence >= self.confidence_cutoff:
self.mav.send_rangefinder(alt, confidence)
Comment on lines +397 to +398
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Could this not be another and in the line before, and drop an indentation level?


position_delta = [0, 0, 0]
attitude_delta = [0, 0, 0]
Expand Down
10 changes: 10 additions & 0 deletions dvl-a50/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,12 @@ def set_enabled(self, enabled: str) -> bool:
return self.dvl.set_enabled(enabled == "true")
return False

def set_cutoff(self, cutoff: int) -> bool:
"""
Enables/Disables the DVL driver
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Suggested change
Enables/Disables the DVL driver
Sets the required confidence for sending rangefinder distance estimates.

"""
return self.dvl.set_confidence_cutoff(int(cutoff))

def set_orientation(self, orientation: int) -> bool:
"""
Sets the DVL mounting orientation:
Expand Down Expand Up @@ -87,6 +93,10 @@ def get_status():
def set_enabled(enable: str):
return str(api.set_enabled(enable))

@app.route("/cutoff/<cutoff>")
def set_cutoff(cutoff: int):
return str(api.set_cutoff(cutoff))

@app.route("/use_as_rangefinder/<enable>")
def set_use_rangefinder(enable: str):
return str(api.set_use_as_rangefinder(enable))
Expand Down
12 changes: 6 additions & 6 deletions dvl-a50/mavlink2resthelper.py
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Expand Up @@ -152,7 +152,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
"type": "DISTANCE_SENSOR",
"time_boot_ms": 0,
"min_distance": 0,
"max_distance": 5000,
"max_distance": 50000,
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If possible it would be helpful to specify the unit here in a comment, and some reasoning behind the value, but ideally the number would be settable from the frontend and/or dynamically determined by the device type or something (rather than hardcoding something arbitrary).

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Hmmm... the correct value for the A50 is 5000 cm, and for the A125 is 12500 cm. Maybe there's a way to get the model # from the data stream? In any case 50000 cm seems too high.

The autopilot code is using min(DISTANCE_SENSOR.max_distance, RNGFNDx_MAX_CM), so the pilot can control the max and min using the RNGFNDx parameters. Same with the minimum. So I don't see huge value in letting the pilot set this value. https://github.com/ArduPilot/ardupilot/blob/9986fb972635016171235750a465adc0d0174ba0/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp#L48

P.S. the default RNGFNDx_MAX_CM is 700 cm, so the pilot will need to tweak this parameter to get RNG_HOLD to work > 7m above the seafloor.

"current_distance": {0},
"mavtype": {{
"type": "MAV_DISTANCE_SENSOR_LASER"
Expand All @@ -170,7 +170,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
0.0,
0.0
],
"signal_quality": 0
"signal_quality": {1}
}}
}}
"""
Expand Down Expand Up @@ -352,12 +352,12 @@ def send_vision_position_estimate(
)
logger.info(post(MAVLINK2REST_URL + "/mavlink", data=data))

def send_rangefinder(self, distance: float):
def send_rangefinder(self, distance: float, quality: float):
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quality_percentage ?

"Sends message DISTANCE_SENSOR to flight controller"
if distance == -1:
return
data = self.rangefinder_template.format(int(distance * 100))

data = self.rangefinder_template.format(0, 0)
else:
data = self.rangefinder_template.format(int(distance * 100), int(max(1, quality)))
post(MAVLINK2REST_URL + "/mavlink", data=data)

def set_gps_origin(self, lat, lon):
Expand Down
18 changes: 16 additions & 2 deletions dvl-a50/static/index.html
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Expand Up @@ -38,12 +38,18 @@ <h1>DVL Configuration</h1>
<br />
<v-row>
<v-col>
<v-card height="650">
<v-card height="650" width="300">
<h2>Settings</h2>
<v-switch v-model="this.enabled" inset :label="`Enable DVL driver`" @change="setDvlEnabled($event)"></v-switch>
<v-switch v-model="this.rangefinder" inset :label="`Send range data through MAVLink`" @change="setDvlAsRangefinder($event)"></v-switch>
<v-btn id="btn-load-dvl" type="button" class="btn btn-primary" @click="loadParams('dvl');">Load parameters for DVL</v-btn>
<v-btn id="btn-load-dvl-gps" type="button" class="btn btn-primary" @click="loadParams('dvl_gps');">Load parameters for DVL+GPS</v-btn>
<label for="confidence-cutoff">Confidence Cutoff:</label>
<v-slider id="confidence-cutoff" @change="setConfidenceCutoff" v-model="confidenceCutoff" :min="0" :max="100" :step="1">
<template #prepend>
<span>{{ confidenceCutoff }}</span>
</template>
</v-slider>
<h2>Status</h2>
<div>
<textarea readonly style="width:100%;"
Expand Down Expand Up @@ -133,10 +139,17 @@ <h2>Water Linked DVL Configuration Page</h2>
orientationOptions: {
"Downwards (LED pointing forward)": 1,
"Forward (Experimental)": 2,
}
},
confidenceCutoff: 10,
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Should this perhaps match the DvlDriver default? Or is it immediately overwritten by fetching from the backend or something? It would be weird if the displayed value doesn't match the internal one.

}
},
methods: {
setConfidenceCutoff(value) {
const request = new XMLHttpRequest();
request.timeout = 800;
request.open('GET', 'cutoff/' + value, true);
request.send();
},
updateDvlStatus() {
axios.get('/get_status', { timeout: 1000 })
.then((response) => {
Expand All @@ -156,6 +169,7 @@ <h2>Water Linked DVL Configuration Page</h2>
if (this.newHostname == null) {
this.newHostname = data.hostname
}
this.confidenceCutoff = data.confidence_cutoff
})
.catch((error) => {
this.status = `Unable to talk to DVL service: ${error}`
Expand Down
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