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[rd03d] Filter targets with sentinel speed values (#13146)

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Co-authored-by: jas <jas@asspa.in>
This commit is contained in:
Jas Strong
2026-01-12 06:25:43 -08:00
committed by GitHub
parent 29cef3bc5d
commit 6c68ebe86e
1 changed files with 35 additions and 15 deletions
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50
esphome/components/rd03d/rd03d.cpp
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@@ -21,6 +21,11 @@ static constexpr uint8_t CMD_FRAME_FOOTER[] = {0x04, 0x03, 0x02, 0x01};
static constexpr uint16_t CMD_SINGLE_TARGET = 0x0080;
static constexpr uint16_t CMD_MULTI_TARGET = 0x0090;
// Speed sentinel values (cm/s) - radar outputs these when no valid Doppler measurement
// FMCW radars detect motion via Doppler shift; targets with these speeds are likely noise
static constexpr int16_t SPEED_SENTINEL_248 = 248;
static constexpr int16_t SPEED_SENTINEL_256 = 256;
// Decode coordinate/speed value from RD-03D format
// Per datasheet: MSB=1 means positive, MSB=0 means negative
static constexpr int16_t decode_value(uint8_t low_byte, uint8_t high_byte) {
@@ -31,6 +36,13 @@ static constexpr int16_t decode_value(uint8_t low_byte, uint8_t high_byte) {
return value;
}
// Check if speed value indicates a valid Doppler measurement
// Zero, ±248, or ±256 cm/s are sentinel values from the radar firmware
static constexpr bool is_speed_valid(int16_t speed) {
int16_t abs_speed = speed < 0 ? -speed : speed;
return speed != 0 && abs_speed != SPEED_SENTINEL_248 && abs_speed != SPEED_SENTINEL_256;
}
void RD03DComponent::setup() {
ESP_LOGCONFIG(TAG, "Setting up RD-03D...");
this->set_timeout(SETUP_TIMEOUT_MS, [this]() { this->apply_config_(); });
@@ -136,8 +148,12 @@ void RD03DComponent::process_frame_() {
int16_t speed = decode_value(speed_low, speed_high);
uint16_t resolution = (res_high << 8) | res_low;
// Check if target is present (non-zero coordinates)
bool target_present = (x != 0 || y != 0);
// Check if target is present
// Requires non-zero coordinates AND valid speed (not a sentinel value)
// FMCW radars detect motion via Doppler; sentinel speed indicates no real target
bool has_position = (x != 0 || y != 0);
bool has_valid_speed = is_speed_valid(speed);
bool target_present = has_position && has_valid_speed;
if (target_present) {
target_count++;
}
@@ -169,20 +185,21 @@ void RD03DComponent::process_frame_() {
#ifdef USE_SENSOR
void RD03DComponent::publish_target_(uint8_t target_num, int16_t x, int16_t y, int16_t speed, uint16_t resolution) {
TargetSensor &target = this->targets_[target_num];
bool valid = is_speed_valid(speed);
// Publish X coordinate (mm)
// Publish X coordinate (mm) - NaN if target invalid
if (target.x != nullptr) {
target.x->publish_state(x);
target.x->publish_state(valid ? static_cast<float>(x) : NAN);
}
// Publish Y coordinate (mm)
// Publish Y coordinate (mm) - NaN if target invalid
if (target.y != nullptr) {
target.y->publish_state(y);
target.y->publish_state(valid ? static_cast<float>(y) : NAN);
}
// Publish speed (convert from cm/s to mm/s)
// Publish speed (convert from cm/s to mm/s) - NaN if target invalid
if (target.speed != nullptr) {
target.speed->publish_state(static_cast<float>(speed) * 10.0f);
target.speed->publish_state(valid ? static_cast<float>(speed) * 10.0f : NAN);
}
// Publish resolution (mm)
@@ -190,20 +207,23 @@ void RD03DComponent::publish_target_(uint8_t target_num, int16_t x, int16_t y, i
target.resolution->publish_state(resolution);
}
// Calculate and publish distance (mm)
// Calculate and publish distance (mm) - NaN if target invalid
if (target.distance != nullptr) {
float distance = std::hypot(static_cast<float>(x), static_cast<float>(y));
target.distance->publish_state(distance);
if (valid) {
target.distance->publish_state(std::hypot(static_cast<float>(x), static_cast<float>(y)));
} else {
target.distance->publish_state(NAN);
}
}
// Calculate and publish angle (degrees)
// Calculate and publish angle (degrees) - NaN if target invalid
// Angle is measured from the Y axis (radar forward direction)
if (target.angle != nullptr) {
if (x == 0 && y == 0) {
target.angle->publish_state(0);
} else {
if (valid) {
float angle = std::atan2(static_cast<float>(x), static_cast<float>(y)) * 180.0f / M_PI;
target.angle->publish_state(angle);
} else {
target.angle->publish_state(NAN);
}
}
}