FT7 series Wind/Airflow sensor Driver#22471
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Would FT7 be the right generalized driver naming? |
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copied paste along with formatting change Some cleanup of driver Some formatting and more debugging info year updates, remove private vars, rm CMakeList naming updates deleted files removed unnecessary parameters improved naming Resolved documentation workflow issue uorb topic name: sensor_wind -> sensor_airflow log sensor_airflow optionally
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Flight tested it: Unfortunately, I don't have a photo with the windsensor on the drone during a flight test, but have some leading up to that test. We will need to make some adjustments to get better info
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- new uorb topic sensor_airflow - log sensor_airflow optionally
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New Sensor Driver: Windsensor/Airflow Sensor
This brings support to communicate with an ultrasonic wind sensor, produced by FT technologies: FT742. It provides measurements about the speed and direction of the airflow flowing through its cavity. Its generally used when stationary, and thus will measure the wind conditions, however, there are use cases for mounting on a multicopter to do inspection of the airflow produced by wind turbines. Usecases
The sensor communicates over RS485, and thus a RS485 to UART signal transfer module is needed to communicate with the sensor, as seen in the below image
Part of a larger plan to bring the measurements into the EKF to improved its wind estimates, and hence getting the sensor in Gazebo @dagar :
gazebosim/gz-sim#2256
The code was originally based on the lightware lidar serial driver. It queries the sensor at its maximum rate of 10Hz, and publishes its data on the sensor_wind uorb topic.
The PR is an WIP, and opened for any comments or suggested changes to improved. There are still a tad amount of cleanup to do, but thought I get it out rather sooner than later.
Changelog Entry
For release notes: