{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/4289","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/4289/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/4289/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/4289/events","html_url":"https://github.com/PX4/Firmware/issues/4289","id":149218968,"number":4289,"title":"Support for DJI guidance module for collision avoidance/ visual odometry","user":{"login":"jgoppert","id":473772,"avatar_url":"https://avatars.githubusercontent.com/u/473772?v=3","gravatar_id":"","url":"https://api.github.com/users/jgoppert","html_url":"https://github.com/jgoppert","followers_url":"https://api.github.com/users/jgoppert/followers","following_url":"https://api.github.com/users/jgoppert/following{/other_user}","gists_url":"https://api.github.com/users/jgoppert/gists{/gist_id}","starred_url":"https://api.github.com/users/jgoppert/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgoppert/subscriptions","organizations_url":"https://api.github.com/users/jgoppert/orgs","repos_url":"https://api.github.com/users/jgoppert/repos","events_url":"https://api.github.com/users/jgoppert/events{/privacy}","received_events_url":"https://api.github.com/users/jgoppert/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2016-04-18T17:33:16Z","updated_at":"2016-04-18T18:11:56Z","closed_at":null,"body":"I have already forked the official DJI guidance module:\r\nhttps://github.com/jgoppert/Guidance-SDK-ROS\r\n\r\nIt is really just a c++ demo program wrapped into ROS. \r\n\r\nThe DJI guidance is a 5 direction stereo vision system with ultrasonic sensors using an FPGA for processing. It then sends obstacle distance and visual odometry over usb to ROS. It can also be configued to send depth images.\r\n\r\nI plan to rewrite the official DJI ros node so that it publishes topics cleanly and the startup is configurable in the launch file.\r\nOnce I get this done I just need to know how to modify mavros to send the data cleanly to the px4 firmware so that we can use the data.\r\n\r\nThis could be handled with the following mavlink messages:\r\n\r\n### Messages\r\n```\r\nVISION_POSITION_ESTIMATE ( 102 )\r\nVISION_SPEED_ESTIMATE ( 104 )\r\nDISTANCE_SENSOR ( #132 )\r\n```\r\n\r\nBut this means we will need to make sure mavlink_receiver can publish all of the distance sensor data from the guidance (5 directions)."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/211507774","html_url":"https://github.com/PX4/Firmware/issues/4289#issuecomment-211507774","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/4289","id":211507774,"user":{"login":"TSC21","id":5048656,"avatar_url":"https://avatars.githubusercontent.com/u/5048656?v=3","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"created_at":"2016-04-18T18:11:56Z","updated_at":"2016-04-18T18:11:56Z","body":"@jgoppert count on me to aid you on this. `mavlink_receiver` is already ready to receive data from `DISTANCE_SENSOR`, we just need to define the proper ID numbers for each of the 5 sensors. Also, mavros is also prepared to load data into the Pixhawk through the `distance_sensor` plugin (I wrote it and tested it myself).\r\nThe only doubt I have now is how the the FCU will be handling each of the distance_sensor publishing. I assume it is using a multisubsriber/multipublisher framework."}}