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[imav] StartVision

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This commit is contained in:
Christophe De Wagter
2015-09-17 08:58:02 +02:00
parent c5adf44468
commit 023013cff0
5 changed files with 51 additions and 4 deletions
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conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
+1 -1
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@@ -16,7 +16,7 @@
<waypoint lat="50.788775526101" lon="6.04652336854142" name="RZ1" height="15"/>
<waypoint lat="50.7889170568219" lon="6.04640018582595" name="RZ2" height="15"/>
<waypoint lat="50.7889755961272" lon="6.04642327267965" name="RZ3" height="15"/>
<waypoint lat="50.789522" lon="6.047118" name="FC"/>
<waypoint lat="50.789522" lon="6.047118" name="FC" height="20"/>
<waypoint lat="50.788597" lon="6.046721" name="S1"/>
<waypoint lat="50.788973" lon="6.045944" name="S2"/>
<waypoint lat="50.789323" lon="6.046330" name="S3"/>
conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+26 -2
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@@ -12,6 +12,13 @@
#ifndef DropOpen
#define DropOpen() FALSE
#endif
#ifndef StartVision
#define StartVision() FALSE
#endif
#ifndef StopVision
#define StopVision() FALSE
#endif
#define WpAlt(X) (30)
</header>
<exceptions>
@@ -65,11 +72,28 @@
<block name="Standby" strip_button="Standby" strip_icon="home.png" group="hover">
<stay wp="STDBY"/>
</block>
<block name="LookRobot" strip_button="LookRobot-FC" strip_icon="lookdown.png" group="hover">
<block name="GoTennis" strip_button="LookRobot-FC" strip_icon="lookdown.png" group="hover">
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_FC)"/>
<go wp="CRUISE"/>
</block>
<block name="LookRobot" >
<stay climb="nav_descend_vspeed" vmode="climb" wp="FC" until="LessThan(stateGetPositionEnu_f()->z, 20)"/>
<call fun="NavCopyWaypointPositionOnly(WP_CAM,WP_FC)"/>
</block>
<block name="Vision" >
<exception cond="block_time > 60" deroute="ComeBack"/>
<call fun="StartVision()"/>
<stay wp="FC"/>
</block>
<block name="ComeBack" strip_button="Abort" strip_icon="home.png" group="hover">
<call fun="StopVision()"/>
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_FC)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="stateGetPositionEnu_f()->z > 30"/>
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_TD)"/>
<go wp="CRUISE"/>
<deroute block="land"/>
</block>
<block name="CAM" strip_button="Follow-Vision-Geolocation-Results" strip_icon="lookdown.png" group="hover">
<stay wp="CAM"/>
@@ -163,7 +187,7 @@
<deroute block="Survey Poly RUN"/>
</block>
<block name="Survey Poly RUN">
<exception cond="PolySurveySweepNum >= 5" deroute="Standby"/>
<exception cond="PolySurveySweepNum >= 5" deroute="GoTennis"/>
<call fun="nav_survey_poly_run()"/>
</block>
conf/modules/cv_blob_locator.xml
+1
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@@ -15,6 +15,7 @@
<dl_setting var="color_cr_max" min="0" step="1" max="255" shortname="v_max" />
<dl_setting var="marker_size" min="1" step="1" max="20" shortname="marker" />
<dl_setting var="geofilter_length" min="1" step="1" max="100" shortname="filter" />
<dl_setting var="record_video" min="0" step="1" max="1" shortname="record" values="OFF|ON" />
<dl_setting var="cv_blob_locator_reset" max="1" min="0" step="1" module="computer_vision/cv_blob_locator" handler="GeoReset">
<strip_button name="Reset Geoprojection Filter" value="1" icon="resurrect.png" value="2" group="cv"/>
</dl_setting>
sw/airborne/modules/computer_vision/cv_blob_locator.c
+15 -1
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@@ -44,6 +44,7 @@ uint8_t cv_blob_locator_type;
int geofilter_length = 5;
int marker_size = 18;
int record_video = 0;
volatile uint32_t blob_locator = 0;
@@ -243,7 +244,9 @@ void cv_blob_locator_init(void) {
}
void cv_blob_locator_periodic(void) {
if (record_video == 1) {
video_thread_take_shot(TRUE);
}
}
@@ -303,3 +306,14 @@ extern void cv_blob_locator_start(void) {
extern void cv_blob_locator_stop(void) {
}
void start_vision(void) {
georeference_init();
record_video = 1;
cv_blob_locator_type = 3;
}
void stop_vision(void) {
georeference_init();
record_video = 0;
cv_blob_locator_type = 0;
}
sw/airborne/modules/computer_vision/cv_blob_locator.h
+8
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@@ -42,6 +42,7 @@ extern uint8_t cv_blob_locator_type;
extern int marker_size;
extern int geofilter_length;
extern int record_video;
extern void cv_blob_locator_init(void);
extern void cv_blob_locator_periodic(void);
@@ -53,6 +54,13 @@ extern void cv_blob_locator_stop(void);
cv_blob_locator_start(); \
}
#define StartVision(X) { start_vision(); FALSE; }
#define StopVision(X) { stop_vision(); FALSE; }
extern void start_vision(void);
extern void stop_vision(void);
#endif