Hello,
I hope you’re all doing well. I have a question regarding the integration of a proximity sensor ,
I’m working on integrating a proximity sensor that outputs data via CAN FD and want to configure it as a DroneCAN proximity sensor on a CubeOrange+.
I reviewed the DroneCAN DSDL for proximity data, which includes fields like sensor_id, reading_type, yaw, pitch, and distance.
The message structure I am referring to is :
Proximity data
uint8 sensor_id # Sensor ID
uint3 READING_TYPE_NO_DATA = 0 # Distance is unknown
uint3 READING_TYPE_NOT_CONNECTED = 1 # Distance field contains valid distance
uint3 READING_TYPE_GOOD = 2 # Distance field contains valid reading for the sensor
uint3 reading_type # Sensor Status
uint5 flags # Reserved
uint5 FLAGS_NONE = 0
float16 yaw # Degrees in body frame
float16 pitch # Degrees in body frame
float16 distance # Meters
I’m stuck on the specifics of what data and ID I need to send from the sensor so that when I connect it to the CubeOrange+ and configure it as a DroneCAN proximity sensor, it works seamlessly.
Are there specific bit/byte alignment requirements for the yaw/pitch/distance fields in CAN FD format?
Any sample message formats or configuration tips would be appreciated.
Thanks in advance for any guidance.