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Pozyx: add Arduino Uno sketch 

This sketch should be loaded onto an Arduino Uno connected to a Pozyx system as described on the ArduPilot wiki
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Shingo Matsuura 8 years ago committed by Randy Mackay
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  1. 336
      Tools/Pozyx/IndoorLoiter/IndoorLoiter.ino

336
Tools/Pozyx/IndoorLoiter/IndoorLoiter.ino
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#include <Time.h>
#include <TimeLib.h>
#include <Pozyx.h>
#include <Pozyx_definitions.h>
/*//#include <mavlink.h>*/
#include "C:\Users\rmackay9\Documents\GitHub\ardupilot\Build.ArduCopter\libraries\GCS_MAVLink\include\mavlink\v2.0\common\mavlink.h"
#include <SoftwareSerial.h>
#include <Wire.h>
/*#include <Time.h> // download from https://github.com/PaulStoffregen/Time */
//#include "C:\Users\rmackay9\Documents\GitHub\Time\Time.h"
////////////////// Pozyx Prams //////////////////////////////
#define NUM_ANCHORS 4
// the network id of the anchors: change these to the network ids of your anchors.
uint16_t anchors[4] = { 0x601C, // (0,0)
0x6020, // x-axis
0x6057, // y-axis
0x605E};
// only required for manual anchor calibration.
// Please change this to the coordinates measured for the anchors
int32_t anchors_x[NUM_ANCHORS] = {0, 18600, 0, 18600}; // anchor x-coorindates in mm (horizontal)
int32_t anchors_y[NUM_ANCHORS] = {0, 0, 10000, 10000}; // anchor y-coordinates in mm (vertical)
int32_t heights[NUM_ANCHORS] = {1420, 0, 0, 1450}; // anchor z-coordinates in mm
////////////////// MAVLINK Prams //////////////////////////////
#define LATITUDE_BASE (36.324187 * 1.0e7)
#define LONGITUDE_BASE (138.639212 * 1.0e7)
uint8_t buf[MAVLINK_MSG_ID_GPS_INPUT_LEN];
int32_t latitude = 0;
int32_t longitude = 0;
// RX TX serial for flight controller ex) Pixhawk
// https://github.com/PaulStoffregen/AltSoftSerial
SoftwareSerial fcboardSerial(10, 11); // rx, tx
////////////////////////////////////////////////
void setup()
{
Serial.begin(115200);
fcboardSerial.begin(57600);
if (Pozyx.begin() == POZYX_FAILURE) {
Serial.println(("ERR: shield"));
delay(100);
abort();
}
Serial.println(("V1.0"));
// clear all previous devices in the device list
Pozyx.clearDevices();
//int status = Pozyx.doAnchorCalibration(POZYX_2_5D, 10, num_anchors, anchors, heights);
/*int status = Pozyx.doAnchorCalibration(POZYX_2D, 10, num_anchors, anchors, heights);
if (status != POZYX_SUCCESS) {
Serial.println(status);
Serial.println(("ERROR: calibration"));
Serial.println(("Reset required"));
delay(100);
abort();
}*/
// if the automatic anchor calibration is unsuccessful, try manually setting the anchor coordinates.
// fot this, you must update the arrays anchors_x, anchors_y and heights above
// comment out the doAnchorCalibration block and the if-statement above if you are using manual mode
SetAnchorsManual();
printCalibrationResult();
Serial.println(("Waiting.."));
delay(5000);
Serial.println(("Starting: "));
}
void loop()
{
coordinates_t position;
int status = Pozyx.doPositioning(&position, POZYX_2_5D, 1000);
//int status = Pozyx.doPositioning(&position);
if (status == POZYX_SUCCESS) {
// print out the result
printCoordinates(position);
// send GPS MAVLINK message
SendGPSMAVLinkMessage(position);
} else {
Serial.println("fail");
}
}
// function to print the coordinates to the serial monitor
void printCoordinates(coordinates_t coor)
{
Serial.print("x:");
Serial.print(coor.x);
print_tab();
Serial.print("y:");
Serial.print(coor.y);
print_tab();
Serial.print("z:");
Serial.print(coor.z);
print_tab();
Serial.print("lat:");
Serial.print(latitude);
print_tab();
Serial.print("lng:");
Serial.print(longitude);
print_tab();
Serial.println();
}
void print_comma()
{
Serial.print(",");
}
void print_tab()
{
Serial.print("\t");
}
#define LOCATION_SCALING_FACTOR_INV_MM 0.08983204953368922f
#define DEG_TO_RAD (M_PI / 180.0f)
float longitude_scale(uint32_t lat)
{
static int32_t last_lat = 0;
static float scale = 1.0;
if (labs(last_lat - lat) < 100000) {
// we are within 0.01 degrees (about 1km) of the
// previous latitude. We can avoid the cos() and return
// the same scale factor.
return scale;
}
scale = cosf(lat * 1.0e-7f * DEG_TO_RAD);
if (scale < 0.01f) {
scale = 0.01f;
}
if (scale > 1.0f) {
scale = 1.0f;
}
last_lat = lat;
return scale;
}
void location_offset(int32_t &lat, int32_t &lng, int32_t offset_north_mm, int32_t offset_east_mm)
{
int32_t dlat = offset_north_mm * LOCATION_SCALING_FACTOR_INV_MM;
int32_t dlng = (offset_east_mm * LOCATION_SCALING_FACTOR_INV_MM) / longitude_scale(lat);
lat += dlat;
lng += dlng;
}
// print out the anchor coordinates (also required for the processing sketch)
void printCalibrationResult()
{
uint8_t list_size;
int status;
status = Pozyx.getDeviceListSize(&list_size);
Serial.print("list: ");
Serial.println(status*list_size);
if (list_size == 0) {
Serial.println("Cal fail.");
Serial.println(Pozyx.getSystemError());
return;
}
uint16_t device_ids[list_size];
status &= Pozyx.getDeviceIds(device_ids,list_size);
Serial.println(("Cal:"));
Serial.print(("Anchors found: "));
Serial.println(list_size);
coordinates_t anchor_coor;
for (int i=0; i<list_size; i++) {
Serial.print("A0x");
Serial.print(device_ids[i], HEX);
print_comma();
status = Pozyx.getDeviceCoordinates(device_ids[i], &anchor_coor);
Serial.print(anchor_coor.x);
print_comma();
Serial.print(anchor_coor.y);
print_comma();
Serial.println(anchor_coor.z);
}
}
// function to manually set the anchor coordinates
void SetAnchorsManual()
{
int i=0;
for (i=0; i<NUM_ANCHORS; i++) {
device_coordinates_t anchor;
anchor.network_id = anchors[i];
anchor.flag = 0x1;
anchor.pos.x = anchors_x[i];
anchor.pos.y = anchors_y[i];
anchor.pos.z = heights[i];
Pozyx.addDevice(anchor);
}
}
// GPS MAVLink message using Pozyx potision
void SendGPSMAVLinkMessage(coordinates_t position)
{
// Initialize the required buffers
mavlink_message_t msg;
/**
* @brief Pack a gps_input message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param time_usec Timestamp (micros since boot or Unix epoch)
* @param gps_id ID of the GPS for multiple GPS inputs
* @param ignore_flags Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided.
* @param time_week_ms GPS time (milliseconds from start of GPS week)
* @param time_week GPS week number
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
* @param lat Latitude (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (AMSL, not WGS84), in m (positive for up)
* @param hdop GPS HDOP horizontal dilution of position in m
* @param vdop GPS VDOP vertical dilution of position in m
* @param vn GPS velocity in m/s in NORTH direction in earth-fixed NED frame
* @param ve GPS velocity in m/s in EAST direction in earth-fixed NED frame
* @param vd GPS velocity in m/s in DOWN direction in earth-fixed NED frame
* @param speed_accuracy GPS speed accuracy in m/s
* @param horiz_accuracy GPS horizontal accuracy in m
* @param vert_accuracy GPS vertical accuracy in m
* @param satellites_visible Number of satellites visible.
* @return length of the message in bytes (excluding serial stream start sign)
*/
uint16_t ignore_flags = GPS_INPUT_IGNORE_FLAG_VEL_HORIZ|
GPS_INPUT_IGNORE_FLAG_VEL_VERT|
GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY|
GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY|
GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY;
uint32_t time_week_ms = 0;
uint16_t time_week = 0;
make_gps_time(time_week_ms, time_week);
// adjust position
latitude = LATITUDE_BASE;
longitude = LONGITUDE_BASE;
location_offset(latitude, longitude, position.y, position.x);
uint16_t len = mavlink_msg_gps_input_pack(
1,
0,
&msg,
micros(), // time_usec,
0, // gps_id,
ignore_flags,
time_week_ms, // time_week_ms,
time_week, // time_week,
3, // fix_type,
latitude, // latitude,
longitude, // longitude,
10, // altitude,
1.0f, // hdop,
1.0f, // vdop,
0.0f, // vn
0.0f, // ve
0.0f, // vd
0.0f, // speed_accuracy
0.0f, // horiz_accuracy
0.0f, // vert_accuracy,
14 // satellites_visible
);
// Copy the message to send buffer
len = mavlink_msg_to_send_buffer(buf, &msg);
// Send message
fcboardSerial.write(buf, len);
}
// calculate GPS time
// based ardupilot/libraries/AP_GPS/GPS_Backend.cpp
void make_gps_time(uint32_t &time_week_ms, uint16_t &time_week)
{
uint8_t year, mon, day, hour, min, sec;
uint16_t msec;
time_t now_time = now();
year = ::year(now_time);
mon = ::month(now_time);
day = ::day(now_time);
uint32_t v = millis();
msec = v % 1000; v /= 1000;
sec = v % 100; v /= 100;
min = v % 100; v /= 100;
hour = v % 100; v /= 100;
int8_t rmon = mon - 2;
if (0 >= rmon) {
rmon += 12;
year -= 1;
}
// get time in seconds since unix epoch
uint32_t ret = (year/4) - 15 + 367*rmon/12 + day;
ret += year*365 + 10501;
ret = ret*24 + hour;
ret = ret*60 + min;
ret = ret*60 + sec;
// convert to time since GPS epoch
ret -= 272764785UL;
// get GPS week and time
time_week = ret / (7*86400UL);
time_week_ms = (ret % (7*86400UL)) * 1000;
time_week_ms += msec;
}
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