General
Interface name |
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Interface file |
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Supported Since |
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OEM Hardware/Software/Firmware Version | |
Sensor Communication Protocol | |
PolySync Sensor Type |
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Driver Notes |
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(OEM) Sensor Description
PolySync Configuration
- Locate CAN hardware and circuit identifiers.
- Copy these numbers into SDF configuration
- Run driver
For more information check out the parsing sensor identifiers article.
Interface Requirements
Input Message Types
Input Msg Type
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Notes
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Native CAN message logged as 'ps_can_frame_msg' | Default bit rate: 500K |
Subscribes to 'ps_platform_motion_msg' when configured to provide sensor with platform motion data (Parameter ID 3404) |
Optional, see parameters for use. When enabled:
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Output Message Types
Output Msg Type
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Notes
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Publishes 'ps_radar_targets_msg' at a rate of ~50 ms |
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Command Line Arguments
- -h show this help message [optional]
- -o enable output of log messages to stdout (in addition to syslog) [optional]
- -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
- -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
- -n SDF node configuration key for the node [required]
- -i use provided PAL interface file instead of what is stored in the SDF [optional]
- -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
- -c use provided CAN channel system index instead of what is stored in the SDF [optional]
- -t perform a validation test on the Delphi ESR 2.5 interface [optional]
- -g get the sensor serial number from the Delphi ESR 2.5 interface [optional]
Events
Event ID
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Event Description
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Implemented (y/n)
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Active When
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Notes
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N/A | N/A |
Parameters
Parameter ID
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Description
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Notes
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800 | Active Coordinate Frame Identifier | |
810 | Output Field of View Range | |
1002 | Sensor 0 X Position | Meters |
1003 | Sensor 0 Y Position | Meters |
1004 | Sensor 0 Z Position | Meters |
1005 | Sensor 0 Roll Orientation | Degrees |
1006 | Sensor 0 Pitch Orientation | Degrees |
1007 | Sensor 0 Yaw Orientation | Degrees |
1001 | Sensor 0 Identifier | Sensor serial number |
400 | CAN Channel 0 Hardware Identifier | |
401 | CAN Channel 0 Circuit Identifier |
Additional Parameters
ID
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Value Type
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Description
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Values
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Notes
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3400 | unsigned long long (1) | ESR is mounted upside-down |
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3401 | unsigned long long (1) | Disable blockage detection |
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3402 | unsigned long long (1) | Clear ESR faults |
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Used to send a command to the ESR that clear any internal faults |
3403 | unsigned long long (1) | Raw data enabled |
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Raw data bypasses the internal tracker |
3404 | unsigned long long (1) | Provides ESR with platform motion |
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3405 | unsigned long long (1) | Calculate ESR track Cartesian velocity vectors |
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The ESR is capable of detecting reasonable lateral rate (tangential velocity) when provided with motion data. However the data is quite noisy when no motion data is provided so the default state is to not use the Cartesian velocity vectors. Range rate is always available. |
Other resources
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