UWB devices can be used for communication, ranging, and positioning. This module consumes anchor measurements and estimates a local position. With range measurements, 3 anchors are required/supported by the current trilateration path.
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
These initialization functions are called once on startup.
These functions are called periodically at the specified frequency from the module periodic loop.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="uwb_positioning" dir="decawave">
<doc>
<description>
Estimate local position from UWB anchor measurements.
UWB devices can be used for communication, ranging, and positioning.
This module consumes anchor measurements and estimates a local position.
With range measurements, 3 anchors are required/supported by the current trilateration path.
See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on the EKF filtering.
</description>
<configure name="UWB_POSITIONING_USE_AS_LOCAL_POS" value="FALSE|TRUE" description="use as a local positioning system (default: TRUE)"/>
<configure name="UWB_POSITIONING_USE_AS_GPS" value="FALSE|TRUE" description="use as a fake GPS positioning system (default: FALSE)"/>
<section name="UWB_POSITIONING" prefix="UWB_POSITIONING_">
<define name="ANCHORS_IDS" value="1, 2, 3" type="int[]" description="Comma separated list of anchors ID"/>
<define name="ANCHORS_POS_X" value="0., 0., 5." type="float[]" description="Comma separated list of anchors ID over X axis"/>
<define name="ANCHORS_POS_Y" value="0., 5., 0." type="float[]" description="Comma separated list of anchors ID over Y axis"/>
<define name="ANCHORS_POS_Z" value="0., 0., 0." type="float[]" description="Comma separated list of anchors ID over Z axis"/>
<define name="RANGE_OFFSET" value="0., 0., 0." type="float[]" description="Offset applied to individual range measurements"/>
<define name="RANGE_SCALE" value="1., 1., 1." type="float[]" description="Scale factor applied to individual range measurements"/>
<define name="INITIAL_HEADING" value="0." description="Initial heading correction between anchors frame and global frame"/>
<define name="NB_ANCHORS" value="3" description="Set number of anchors, only 3 are required/supported at the moment"/>
<define name="USE_EKF" value="FALSE|TRUE" description="Enable EKF filtering, required to estimate speed"/>
<define name="EKF_Q" value="1.0" description="EKF process noise"/>
<define name="EKF_R_DIST" value="0.1" description="EKF noise on distance measurements"/>
<define name="EKF_R_SPEED" value="0.1" description="EKF noise on speed measurements (if available)"/>
<define name="NOISE_X|Y|Z" value="0.1" description="Noise level reported by the POSITION_ESTIMATE message when USE_AS_LOCAL_POS is activated"/>
<define name="VEL_NOISE_X|Y|Z" value="0.1" description="Noise level reported by the VELOCITY_ESTIMATE message when USE_AS_LOCAL_POS is activated"/>
</section>
</doc>
<dep>
<depends>@ranging</depends>
</dep>
<settings>
<dl_settings>
<dl_settings name="uwb_positioning">
<dl_setting max="1" min="0" step="1" module="decawave/uwb_positioning" var="uwb_positioning_use_ekf" shortname="use_ekf" values="FALSE|TRUE"/>
<dl_setting max="5.0" min="0.01" step="0.01" module="decawave/uwb_positioning" var="uwb_positioning_ekf_q" shortname="q_noise" handler="update_ekf_q"/>
<dl_setting max="1.0" min="0.01" step="0.01" module="decawave/uwb_positioning" var="uwb_positioning_ekf_r_dist" shortname="r_dist" handler="update_ekf_r_dist"/>
<dl_setting max="1.0" min="0.01" step="0.01" module="decawave/uwb_positioning" var="uwb_positioning_ekf_r_speed" shortname="r_speed" handler="update_ekf_r_speed"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="uwb_positioning.h"/>
</header>
<init fun="uwb_positioning_init()"/>
<periodic fun="uwb_positioning_periodic()" freq="10"/>
<periodic fun="uwb_positioning_range_periodic()" freq="10"/>
<periodic fun="uwb_positioning_report()" freq="10" autorun="FALSE"/>
<periodic fun="uwb_positioning_reset_heading_ref()" freq="1" autorun="FALSE"/>
<makefile>
<configure name="UWB_POSITIONING_USE_AS_LOCAL_POS" default="TRUE"/>
<configure name="UWB_POSITIONING_USE_AS_GPS" default="FALSE"/>
<file name="uwb_positioning.c"/>
<file name="trilateration.c"/>
<file name="ekf_range.c"/>
<define name="UWB_POSITIONING_USE_AS_LOCAL_POS" value="$(UWB_POSITIONING_USE_AS_LOCAL_POS)"/>
<define name="UWB_POSITIONING_USE_AS_GPS" value="$(UWB_POSITIONING_USE_AS_GPS)"/>
<raw>
ifeq (,$(findstring $(UWB_POSITIONING_USE_AS_GPS),0 FALSE))
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), uwb_positioning))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/decawave/uwb_positioning.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UWB
else
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/decawave/uwb_positioning.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UWB
endif
else
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/decawave/uwb_positioning.h\"
endif
endif
</raw>
</makefile>
</module>
1.9.8