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projects:lps:index [2016-02-12 11:47] arnaud [DWM deck] |
projects:lps:index [2019-01-29 16:56] macke [Hardware description] |
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- | <WRAP center round info> | + | ====== Loco Positioning System ====== |
- | //**Alpha production**// | + | |
- | Currently this product is only available as part if our [[https:// | + | |
- | </ | + | |
- | ====== System overview ====== | + | The loco positioning system (LPS) project is a set of hardware and software designed to implement a local positioning system |
- | The local positioning system is based on the [[http:// | + | |
- | <WRAP group> | + | ===== Hardware description ===== |
- | <WRAP half column> | + | The hardware consists multiple parts: |
- | Our testsystem uses the following components: | + | * [[projects: |
- | * 6 anchors (with power cables) using < | + | * [[projects:lps:deck|Loco positioning deck]]: USB radio deck to be installed on Crazyflie 2.X |
- | * 1 deck | + | * [[projects:lps: |
- | * Computer running | + | |
- | * Crazyflie client with ZMQ to mix manual and automatic control | + | |
- | </ | + | |
- | <WRAP half column> | + | |
- | Here's a video of the current state (January 2016). | + | |
- | {{youtube> | + | |
- | </ | + | |
- | </ | + | |
- | ====== Hardware description ====== | ||
- | The hardware consists two parts, nodes and decks. | ||
- | ===== LPS Node ===== | ||
- | {{: | ||
- | <WRAP group> | ||
- | <WRAP half column> | ||
- | Connects and buttons: | ||
- | - **uUSB**: Used to power board (and will have command-line interface) | ||
- | - **DC-jack**: | ||
- | - **Terminal**: | ||
- | - **Reset**: Reset the board | ||
- | - **Exp connector**: | ||
- | - **USR & DFU**: If pressed and held during reset or power on this will put the board into DFU bootloader mode. When the system is up and running the button is still unused, but could be used to trigger functionality in the firmware. | ||
- | - **SWD**: Connector for programming and debugging MCU. Uses same pin-out as Crazyflie 2.0 and [[http:// | ||
- | - **FTDI**: Connector designed for the FTDI serial-to-USB cable (TTL-232R-3V3). Except for getting a serial console for debugging it can also be used to power the board. Note that signals are 3V3 and power is 5V. | ||
- | - **M3 mounting holes** | ||
- | </ | ||
- | <WRAP half column> | ||
- | MCU controlled LEDs: | ||
- | * **POWER**: On when board is powered | ||
- | * **RANGING**: | ||
- | * **SYNC**: TDB | ||
- | * **MODE**: On in Anchor mode, off in Tag mode and blinking in Sniffer mode | ||
- | DWM1000 controlled LEDs: | ||
- | * **TX**: Transmitting | ||
- | * **RX**: Receiving | ||
- | * **SFD**: Received packet timestamp | ||
- | * **RXOK**: Packet received without error | ||
- | </ | ||
- | </ | ||
- | ===== DWM deck ===== | ||
- | |||
- | The DWM deck is designed to be installed on the Crazyflie 2.0 deck port. The orientation is indicated using the standard deck orientation [[projects: | ||
- | |||
- | The deck contains a row of 4 LEDs, all controlled by the DWM1000: | ||
- | * **TX**: Transmitting | ||
- | * **RX**: Receiving | ||
- | * **SFD**: Received packet timestamp | ||
- | * **RXOK**: Packet received without error | ||
- | ====== Firmware ====== | ||
- | |||
- | ===== DWM Node ===== | ||
- | |||
- | ==== Building and flashing ==== | ||
- | Building and flashing is described in the [[https:// | ||
- | |||
- | Flashing via DFU requires [[http:// | ||
- | |||
- | ===== DWM deck ===== | ||
- | The firmware for the DWM deck is included in the Crazyflie 2.0 firmware build (recent) and activated when the deck is attached. The deck contains a small memory that holds the address of the board as well as the addresses of the anchors it will use for ranging. | ||
- | |||
- | More information on building the firmware and the firmware itself can be found [[https:// | ||
- | |||
- | ====== ROS ====== | ||
- | |||
- | The ROS module for positioning with the LPS is available on Github: https:// | ||
- | |||
- | To get started from a newly installed ubuntu: | ||
- | - Install ROS: http:// | ||
- | - Create your workspace: http:// | ||
- | - Clone https:// | ||
- | - Run // | ||
- | - Source the workspace // | ||
- | - Run //rosdep install bitcraze_lps_estimator// | ||
- | |||
- | The position of the anchor has to be entered in a configuration file. The file should be // | ||
- | <file yaml anchor_pos.yaml> | ||
- | n_anchors: 6 | ||
- | anchor0_pos: | ||
- | anchor1_pos: | ||
- | anchor2_pos: | ||
- | anchor3_pos: | ||
- | anchor4_pos: | ||
- | anchor5_pos: | ||
- | </ | ||
- | |||
- | The positions are in meter, [x, y, z], from the origin. | ||
- | |||
- | When this file is configured, the // | ||
- | <code bash> | ||
- | $ roslaunch bitcraze_lps_estimator dwm_loc.launch uri: | ||
- | </ | ||
- | ====== Set up ====== | ||
- | the dwm nodes can be configured in 3 different modes; tag, anchor or sniffer. By default they come pre-configured as anchors. The anchors are powered with 5v either through micro usb, power jack or screw terminal | ||
- | A nice way to power the anchors is to use usb power pack like we do here: | ||
- | |||
- | {{: | ||
- | |||
- | Place the anchors at least 15 cm from the floor/ | ||
- | We use 3d printed anchor-stands that can be found at: https:// | ||
- | |||
- | One of the main consideration for the anchor placement is the [[https:// |