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[opticalflow] bebop2 with dual optical flow (#3136)

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* Squash on master
* fix bebeop2_flow
* Divergence is more noisy than previous time... added a low-pass filter, and allow for a higher threshold...
* fixed the sim, removed warnings, removed double airframe
* cleanup airframe, remove all warnings, allow placing camera parameters in sections
* PPRZLINK
* Silent warnings and compile errors
* reintegrated pprzlink
---------
Co-authored-by: guidoAI <guido.de.croon@gmail.com>
This commit is contained in:
Christophe De Wagter
2023-10-09 08:35:07 +02:00
committed by GitHub
parent cb97031d47
commit 4df13209e5
19 changed files with 233 additions and 507 deletions
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conf/modules/optical_flow_landing.xml
+2
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@@ -31,6 +31,7 @@
<define name="IGAIN_HORIZONTAL_FACTOR" value="0.0001" description="Factor multiplied with I gain for horizontal control"/>
<define name="ROLL_TRIM" value="0.0" description="Roll trim in degrees"/>
<define name="PITCH_TRIM" value="0.0" description="Pitch trim in degrees"/>
<define name="FRONT_DIV_THRESHOLD" value="0.3" description="Threshold on front divergence for stopping."/>
<!-- TODO: add more explanations of settings below -->
</section>
</doc>
@@ -72,6 +73,7 @@
<dl_setting var="of_landing_ctrl.omega_LR" min="-60.0" step="1.0" max="60.0" module="ctrl/optical_flow_landing" shortname="omega_LR" param="OFL_OMEGA_LR"/>
<dl_setting var="of_landing_ctrl.omega_FB" min="-60.0" step="1.0" max="60.0" module="ctrl/optical_flow_landing" shortname="omega_FB" param="OFL_OMEGA_FB"/>
<dl_setting var="of_landing_ctrl.active_motion" min="0" step="1" max="2" values="none|flow|angle" module="ctrl/optical_flow_landing" shortname="active_motion" param="OFL_ACTIVE_MOTION"/>
<dl_setting var="of_landing_ctrl.front_div_threshold" min="0.0" step="0.01" max="5.0" module="ctrl/optical_flow_landing" shortname="front_div_threshold" param="OFL_FRONT_DIV_THRESHOLD"/>
</dl_settings>
</dl_settings>
</settings>