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Code Issues Actions 2 Packages Projects Releases Wiki Activity

Restructure bebop camera settings and ISP (#2364)

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This commit is contained in:
Kirk Scheper
2019-01-28 15:44:22 +01:00
committed by Gautier Hattenberger
parent 638f513701
commit 6d36c581cb
77 changed files with 1729 additions and 1411 deletions
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2
conf/airframes/BR/bebop_default.xml
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@@ -31,7 +31,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="bottom_camera"/>

2
conf/airframes/BR/bebop_indi.xml
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@@ -38,7 +38,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

2
conf/airframes/BR/bebop_indi_frog.xml
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@@ -39,7 +39,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

2
conf/airframes/BR/bebop_indi_frog_flip.xml
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@@ -36,7 +36,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>

2
conf/airframes/CDW/cdw_bebop.xml
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@@ -37,7 +37,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

2
conf/airframes/MM/bebop.xml
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@@ -38,7 +38,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<!--module name="video_thread">
<!--module name="bebop_cam">
<define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>

2
conf/airframes/OPENUAS/openuas_leapfrogeye.xml
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@@ -36,7 +36,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

20
conf/airframes/OPENUAS/openuas_parrot_disco.xml
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@@ -75,19 +75,11 @@
<!--<configure name="FLASH_MODE" value="USB"/>--><!-- TODO: WIFI or USB-->
<!-- WIP: Front Camera parameters -->
<define name="H264_ROTATE" value="TRUE"/>
<define name="MT9F002_INITIAL_OFFSET_X" value="416+2704-480"/> <!-- 480 / 960 / 1920 / 3840 (horion for theta = 0 -> 2704) -->
<define name="MT9F002_INITIAL_OFFSET_Y" value="1680-1040"/> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_SENSOR_WIDTH" value="2*480"/> <!-- 480 / 960 / 1920 / 3840 -->
<define name="MT9F002_SENSOR_HEIGHT" value="2*1040"/> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_OUTPUT_WIDTH" value="240"/> <!-- 480 / 960 / 1920 / 3840 -->
<define name="MT9F002_OUTPUT_HEIGHT" value="520"/> <!-- 420 / 840 / 1680 / 3360 -->
<define name="MT9F002_TARGET_FPS" value="30"/>
<define name="MT9F002_TARGET_EXPOSURE" value="4"/>
<define name="MT9F002_GAIN_GREEN1" value="8.0"/>
<define name="MT9F002_GAIN_GREEN2" value="8.0"/>
<define name="MT9F002_GAIN_RED" value="8.0"/>
<define name="MT9F002_GAIN_BLUE" value="8.0"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_OUTPUT_HEIGHT" value="520" />
<define name="MT9F002_OUTPUT_WIDTH" value="240" />
<define name="MT9F002_OFFSET_X" value="0.072" />
<define name="MT9F002_TARGET_EXPOSURE" value="4" />
<define name="MT9F002_ZOOM" value="1.25"/>
<!-- <configure name="CPU_LED" value="1"/>--> <!-- Change to whatever you like -->
@@ -327,7 +319,7 @@
<module name="photogrammetry_calculator"/>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>

21
conf/airframes/examples/bebop.xml
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@@ -10,17 +10,6 @@
<module name="udp"/>
</target>
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
<define name="MT9F002_GAIN_GREEN1" value="4"/>
<define name="MT9F002_GAIN_GREEN2" value="4"/>
<define name="MT9F002_GAIN_RED" value="5"/>
<define name="MT9F002_GAIN_BLUE" value="5"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
<define name="USE_SONAR" value="true"/>
<!-- Subsystem section -->
@@ -41,7 +30,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
@@ -80,6 +69,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>

2
conf/airframes/examples/bebop2_opticflow.xml
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@@ -24,7 +24,7 @@
<!-- <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
</module> -->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>

44
conf/airframes/tudelft/bebop2_detect_gate_front.xml
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@@ -27,19 +27,6 @@
<define name="USE_SONAR" value="TRUE"/>
<module name="ins" type="extended"/>
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
<define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
<define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
<define name="MT9F002_GAIN_GREEN1" value="4"/>
<define name="MT9F002_GAIN_GREEN2" value="4"/>
<define name="MT9F002_GAIN_RED" value="5"/>
<define name="MT9F002_GAIN_BLUE" value="5"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -47,7 +34,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -61,23 +48,22 @@
<!-- For tuning the color filter: -->
<!--
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
</module>
-->
<module name="ctrl_module_outerloop_demo"/>
<module name="cv_detect_gate">
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
</module>
<module name="video_rtp_stream">
@@ -120,6 +106,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>

2
conf/airframes/tudelft/bebop2_opticflow.xml
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@@ -33,7 +33,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="pose_history"/>
<module name="cv_opticflow">

27
conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
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@@ -19,28 +19,13 @@
<define name="USE_SONAR" value="0"/>
<module name="ins" type="extended"/>
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
<define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
<define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
<define name="MT9F002_GAIN_GREEN1" value="4"/>
<define name="MT9F002_GAIN_GREEN2" value="4"/>
<define name="MT9F002_GAIN_RED" value="5"/>
<define name="MT9F002_GAIN_BLUE" value="5"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -54,6 +39,7 @@
<!-- <define name="INS_INT_VEL_ID" value="ABI_DISABLE"/> -->
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="front_camera"/>
<define name="OPTICFLOW_FPS" value="10"/>
<define name="MAX_HORIZON" value="10"/>
<define name="OPTICFLOW_DEROTATION" value="1"/>
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
@@ -66,7 +52,6 @@
<module name="optical_flow_landing">
<define name="OFL_PGAIN" value="0.05"/>
<define name="OFL_IGAIN" value="0.0"/>
</module>
<module name="video_rtp_stream">
@@ -109,6 +94,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640"/>
<define name="OUTPUT_WIDTH" value="640"/>
<define name="OFFSET_X" value="0.15"/>
<define name="TARGET_EXPOSURE" value="30"/>
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>

24
conf/airframes/tudelft/bebop2_undistort_front.xml
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@@ -19,20 +19,6 @@
<define name="USE_SONAR" value="0"/>
<module name="ins" type="extended"/>
<define name="MT9F002_OUTPUT_HEIGHT" value="640" />
<define name="MT9F002_OUTPUT_WIDTH" value="640" />
<define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
<define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
<define name="MT9F002_TARGET_EXPOSURE" value="30" />
<define name="MT9F002_GAIN_GREEN1" value="4"/>
<define name="MT9F002_GAIN_GREEN2" value="4"/>
<define name="MT9F002_GAIN_RED" value="5"/>
<define name="MT9F002_GAIN_BLUE" value="5"/>
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<define name="MT9F002_X_ODD_INC_VAL" value="1"/>
<define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -40,7 +26,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -97,6 +83,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>

215
conf/airframes/tudelft/bebop2_vision.xml
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@@ -1,215 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_vision">
<description>Bebop2, Vision disabled
</description>
<firmware name="rotorcraft">
<target name="ap" board="bebop2"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="gps" type="ubx_ucenter"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="video_thread"/>
<!--<module name="video_rtp_stream">-->
<!--<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>-->
<!--<define name="VIEWVIDEO_CAMERA2" value="front_camera"/>-->
<!--<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="2"/>-->
<!--<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>-->
<!--</module>-->
<!--<module name="bebop_ae_awb"/>-->
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- Magnetometer still needs to be calibrated -->
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.05"/>
<define name="G1_Q" value="0.04"/>
<define name="G1_R" value="0.0022"/>
<define name="G2_R" value="0.20"/>
<!-- Here it is assumed that your removed the damping from your bebop2!
The dampers do not really damp, but cause oscillation. By removing/
fixing them, the bebop2 will fly much better-->
<define name="FILTER_ROLL_RATE" value="FALSE"/>
<define name="FILTER_PITCH_RATE" value="FALSE"/>
<define name="FILTER_YAW_RATE" value="FALSE"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>

2
conf/airframes/tudelft/bebop_OF_hover.xml
View File

@@ -28,7 +28,7 @@
<define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> </module> -->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="pose_history"/>
<module name="cv_opticflow">
<define name="OPTICFLOW_METHOD" value="0"/>

4
conf/airframes/tudelft/bebop_autonomous_race_2017.xml
View File

@@ -33,13 +33,13 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread">
<module name="bebop_cam">
</module>
<module name="pose_history"/>
<module name="cv_detect_contour">
<define name="DETECT_CONTOUR_CAMERA" value="front_camera"/>
<define name="DETECT_CONTOUR_CAMERA" value="front_camera"/>
</module>
<module name="cv_opticflow">
<define name="OPTICFLOW_METHOD" value="1"/>

23
conf/airframes/tudelft/bebop_course2018_orangeavoid.xml
View File

@@ -11,19 +11,6 @@
<module name="fdm" type="gazebo"/>
</target>
<!-- Front Camera parameters -->
<define name="MT9F002_INITIAL_OFFSET_X" value="0.09" /> <!-- Offset from center position [-0.5..0.5]. Set to 0.09 to center horizon. -->
<define name="MT9F002_INITIAL_OFFSET_Y" value="0." /> <!-- Offset from center position [-0.5..0.5] -->
<define name="MT9F002_OUTPUT_WIDTH" value="240" /> <!-- Output dimensions -->
<define name="MT9F002_OUTPUT_HEIGHT" value="520" /> <!-- Output dimensions -->
<define name="MT9F002_TARGET_FPS" value="30" />
<define name="MT9F002_TARGET_EXPOSURE" value="20" />
<define name="MT9F002_GAIN_GREEN1" value="4.0" />
<define name="MT9F002_GAIN_GREEN2" value="4.0" />
<define name="MT9F002_GAIN_RED" value="5.0" />
<define name="MT9F002_GAIN_BLUE" value="5.0" />
<define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
@@ -50,7 +37,7 @@
</module>
<!-- Video/Camera modules -->
<module name="video_thread" />
<module name="bebop_cam" />
<!--module name="bebop_ae_awb">
<define name="CV_AE_AWB_VERBOSE" value="0" />
</module-->
@@ -101,6 +88,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="520" />
<define name="OUTPUT_WIDTH" value="240" />
<define name="OFFSET_X" value="0.09" />
<define name="TARGET_EXPOSURE" value="20" />
<define name="ZOOM" value="1.25"/>
</section>
<!-- Cyberzoo bebop1 values -->
<section name="COLORFILTER" prefix="ORANGE_AVOIDER_">
<define name="LUM_MIN" value="20"/>

10
conf/airframes/tudelft/bebop_frontcam.xml
View File

@@ -33,7 +33,7 @@
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -75,6 +75,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>

2
conf/airframes/tudelft/bebop_mavlink.xml
View File

@@ -39,7 +39,7 @@
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_blob_locator">
<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

2
conf/airframes/tudelft/bebop_opticflow.xml
View File

@@ -32,7 +32,7 @@
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="pose_history"/>
<module name="video_thread"/>
<module name="bebop_cam"/>
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>

14
conf/boards/bebop.makefile
View File

@@ -34,10 +34,6 @@ $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL -D_GNU_SOURCE
# board specific init function
$(TARGET).srcs += $(SRC_BOARD)/board.c
# Compile the video specific parts
$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
# Link static (Done for GLIBC)
$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
$(TARGET).LDFLAGS += -static
@@ -48,8 +44,8 @@ $(TARGET).LDFLAGS += -static
# -----------------------------------------------------------------------
# default LED configuration
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 1
GPS_LED ?= none
SYS_TIME_LED ?= 0
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 1
GPS_LED ?= none
SYS_TIME_LED ?= 0

14
conf/boards/bebop2.makefile
View File

@@ -37,10 +37,6 @@ $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL -D_GNU_SOURCE
# board specific init function
$(TARGET).srcs += $(SRC_BOARD)/board.c
# Compile the video specific parts
$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
# Link static (Done for GLIBC)
$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
$(TARGET).LDFLAGS += -static
@@ -51,8 +47,8 @@ $(TARGET).LDFLAGS += -static
# -----------------------------------------------------------------------
# default LED configuration
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 1
GPS_LED ?= none
SYS_TIME_LED ?= 0
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 1
GPS_LED ?= none
SYS_TIME_LED ?= 0

5
conf/boards/disco.makefile
View File

@@ -38,11 +38,6 @@ $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL -D_GNU_SOURCE
# board specific init function
$(TARGET).srcs += $(SRC_BOARD)/board.c
# Compile the video specific parts
VIDEO_SRC = boards/bebop
$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
$(TARGET).srcs += $(VIDEO_SRC)/mt9v117.c $(VIDEO_SRC)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
# Link static (Done for GLIBC)
$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
$(TARGET).LDFLAGS += -static

3
conf/modules/bebop_ae_awb.xml
View File

@@ -2,11 +2,10 @@
<module name="bebop_ae_awb" dir="computer_vision">
<doc>
<description>Auto Exposure and Auto White Balancing for the Bebop 1 and 2</description>
<description>Auto Exposure and Auto White Balancing for the front camera on the Parrot Bebop 1 and 2 and the Disco</description>
<section name="bebop_ae_awb">
<define name="BEBOP_AE_AWB_NICE" value="5" description="Nice setting for async thread"/>
<define name="BEBOP_AUTO_EXPOSURE" value="true" description="perform auto exposure (Default: true)"/>
<define name="BEBOP_AE_AWB_CAMERA" value="front_camera|bottom_camera" description="which camera to run the AWB and AE"/>
<define name="BEBOP_AE_AWB_VERBOSE" value="TRUE|FALSE" description="Whether or not to print debug information to the terminal"/>
<define name="BEBOP_AE_EXPOSURE_GAIN" value="0.75" description="Gain to apply to autoexposure change"/>
<define name="BEBOP_AE_MIDDLE_INDEX" value="110" description="Bin index to be considered as the center of the brightness bins"/>

73
conf/modules/bebop_cam.xml Normal file
View File

@@ -0,0 +1,73 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="bebop_cam" dir="../boards/bebop">
<doc>
<description>
Compile and control the settings of the Bebop front and bottom cameras.
</description>
<section name="Front camera" prefix="MT9F002_">
<define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimention allowable with isp"/>
<define name="OUTPUT_WIDTH" value="640" description="Image horizontal resolution used if MT9F002_RESOLUTION not defined"/>
<define name="OUTPUT_HEIGHT" value="640" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
<define name="OFFSET_X" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
<define name="OFFSET_Y" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
<define name="ZOOM" value="1" description="Zoom factor of image"/>
<define name="TARGET_EXPOSURE" value="30" description="Exposure of the front camera of the bebop. Experimental values: Outside: 15; Inside well lit: 30; Inside poorly lit: 60"/>
<define name="TARGET_FPS" value="30" description="Desired frame rate"/>
<define name="GAIN_GREEN1" value="2" description="Green gain"/>
<define name="GAIN_GREEN2" value="2" description="Green gain"/>
<define name="GAIN_RED" value="1.4" description="Red gain"/>
<define name="GAIN_BLUE" value="2.7" description="Blue gain"/>
<define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
<define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
<define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
<define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
<define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
</section>
<section name="Bottom camera" prefix="MT9V117_">
<define name="TARGET_FPS" value="30" description="Desired frame rate"/>
<define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
<define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
<define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
<define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
<define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
</section>
</doc>
<settings>
<dl_settings NAME="Bebop camera control">
<dl_settings name="Front camera">
<dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5" shortname="zoom" param="MT9F002_ZOOM"/>
<dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5" shortname="offset_x" param="MT9F002_OFFSET_X"/>
<dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5" shortname="offset_y" param="MT9F002_OFFSET_Y"/>
<dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1" values="SEND" shortname="update_resolution" module="boards/bebop/mt9f002" handler="setting_update_resolution"/>
<dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60" shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
<dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60" shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
<dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60" shortname="blue" param="MT9F002_GAIN_BLUE"/>
<dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60" shortname="red" param="MT9F002_GAIN_RED"/>
<dl_setting var="mt9f002_send_color" min="1" step="1" max="1" values="SEND" shortname="update_color" module="boards/bebop/mt9f002" handler="setting_update_color"/>
<dl_setting var="mt9f002.target_exposure " min="0.1" step="0.1" max="80" shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
<dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1" values="SEND" shortname="update_exposure" module="boards/bebop/mt9f002" handler="setting_update_exposure"/>
</dl_settings>
</dl_settings>
</settings>
<autoload name="video_thread"/>
<header>
<file name="mt9v117.h"/>
<file name="mt9f002.h"/>
</header>
<init fun="mt9v117_init(&mt9v117)"/>
<init fun="mt9f002_init(&mt9f002)"/>
<makefile target="ap">
<file name="mt9v117.c"/>
<file name="mt9f002.c"/>
<file name="libisp.c" dir="boards/bebop/isp"/>
<define name="I2C_BUF_LEN" value="56"/>
<define name="USE_I2C0"/>
</makefile>
</module>

1
conf/modules/cv_opticflow.xml
View File

@@ -117,7 +117,6 @@
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<file name="rtp.c" dir="modules/computer_vision/lib/encoding"/>
<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
<!-- The optical flow module (calculator) -->
<file name="opticflow_module.c"/>

5
conf/modules/video_capture.xml
View File

@@ -17,9 +17,8 @@
<settings>
<dl_settings>
<dl_settings name="video">
<dl_setting var="video_capture_take_shot" min="0" step="1" max="1" shortname="take_shot"
module="computer_vision/video_capture">
<dl_settings name="video_capture">
<dl_setting var="video_capture_take_shot" min="0" step="1" max="1" shortname="capture_frame" module="computer_vision/video_capture">
<strip_button name="Video Save Image" icon="digital-camera.png" value="1" group="cv"/>
</dl_setting>
</dl_settings>

1
conf/modules/video_thread.xml
View File

@@ -28,6 +28,7 @@
<include name="modules/computer_vision"/>
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
<file name="virt2phys.c" dir="modules/computer_vision/lib/v4l"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<!-- Random flags -->

13
conf/userconf/tudelft/conf.xml
View File

@@ -462,17 +462,6 @@
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#baa3d698b729"
/>
<aircraft
name="bebop2_vision"
ac_id="27"
airframe="airframes/tudelft/bebop2_vision.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/delft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#ffffbf17bf17"
/>
<aircraft
name="bebop2_vision_front"
ac_id="217"
@@ -481,7 +470,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/video_rtp_stream.xml modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/video_capture.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/video_rtp_stream.xml modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/video_capture.xml modules/bebop_cam.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#ffffbf17bf17"
/>
<aircraft

3
sw/airborne/boards/bebop.h
View File

@@ -60,9 +60,6 @@
extern struct video_config_t bottom_camera;
extern struct video_config_t front_camera;
/* ISP */
struct mt9f002_t mt9f002;
/* by default activate onboard baro */
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1

48
sw/airborne/boards/bebop/board.c
View File

@@ -29,47 +29,9 @@
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "mcu_periph/i2c.h"
#include "mt9v117.h"
#include "mt9f002.h"
#include "mcu.h"
#include "boards/bebop.h"
/* Initialize MT9F002 chipset (Front camera) */
struct mt9f002_t mt9f002 = {
// Precomputed values to go from InputCLK of (26/2)MHz to 96MH
.interface = MT9F002_PARALLEL,
.input_clk_freq = (26 / 2),
.vt_pix_clk_div = 7,
.vt_sys_clk_div = 1,
.pre_pll_clk_div = 1,
.pll_multiplier = 59,
.op_pix_clk_div = 8,
.op_sys_clk_div = 1,
.shift_vt_pix_clk_div = 1,
.rowSpeed_2_0 = 1,
.row_speed_10_8 = 1,
// Initial values
.target_fps = MT9F002_TARGET_FPS,
.target_exposure = MT9F002_TARGET_EXPOSURE,
.gain_green1 = MT9F002_GAIN_GREEN1,
.gain_blue = MT9F002_GAIN_BLUE,
.gain_red = MT9F002_GAIN_RED,
.gain_green2 = MT9F002_GAIN_GREEN2,
.output_width = MT9F002_OUTPUT_WIDTH,
.output_height = MT9F002_OUTPUT_HEIGHT,
.output_scaler = MT9F002_OUTPUT_SCALER,
.offset_x = MT9F002_INITIAL_OFFSET_X,
.offset_y = MT9F002_INITIAL_OFFSET_Y,
.x_odd_inc = MT9F002_X_ODD_INC_VAL,
.y_odd_inc = MT9F002_Y_ODD_INC_VAL,
// I2C connection port
.i2c_periph = &i2c0
};
static int kill_gracefull(char *process_name)
{
/* "pidof" always in /bin on Bebop firmware tested 1.98, 2.0.57, no need for "which" */
@@ -128,14 +90,4 @@ void board_init(void)
void board_init2(void)
{
/* Initialize MT9V117 chipset (Bottom camera) */
struct mt9v117_t mt9v117 = {
// Initial values
// I2C connection port
.i2c_periph = &i2c0
};
mt9v117_init(&mt9v117);
mt9f002_init(&mt9f002);
}

0
sw/airborne/modules/computer_vision/lib/isp/LICENSE → sw/airborne/boards/bebop/isp/LICENSE
View File

87
sw/airborne/modules/computer_vision/lib/isp/libisp.c → sw/airborne/boards/bebop/isp/libisp.c
View File

@@ -9,6 +9,15 @@
#include <sys/ioctl.h>
#include "libisp.h"
#include "libisp_config.h"
#define PRINT(string,...) fprintf(stderr, "[libisp->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)
#if MT9F002_VERBOSE
#define VERBOSE_PRINT PRINT
#else
#define VERBOSE_PRINT(...)
#endif
#define AVI_BASE 0x400000
#define AVI_SIZE 0x100000
@@ -22,6 +31,9 @@ struct avi_isp_offsets {
uint32_t chain_yuv;
};
#define AVI_ISP_STAT_YUV_MAX_WAIT 3
uint8_t curWait = 0;
/* IOCTL implemented in AVI drivers */
#define AVI_ISP_IOGET_OFFSETS _IOR('F', 0x33, struct avi_isp_offsets)
@@ -34,6 +46,8 @@ static struct libisp_context isp_ctx = {
.devmem = -1
};
uint16_t requestWindow[6] = {0};
static const unsigned isp_bases[] = {
AVI_ISP_CHAIN_BAYER_INTER,
AVI_ISP_VLFORMAT_32TO40,
@@ -76,7 +90,7 @@ static const unsigned isp_bases[] = {
static int avi_isp_get_offsets_fd(int fd, struct avi_isp_offsets *off)
{
if (ioctl(fd, AVI_ISP_IOGET_OFFSETS, off) < 0) {
printf("sizeof: %d, %X\n", sizeof(struct avi_isp_offsets), AVI_ISP_IOGET_OFFSETS);
VERBOSE_PRINT("sizeof: %d, %X\n", sizeof(struct avi_isp_offsets), AVI_ISP_IOGET_OFFSETS);
perror("ioctl(AVI_ISP_IOGET_OFFSETS) failed");
return -1;
}
@@ -197,18 +211,88 @@ int configure_isp(struct v4l2_device *dev)
return 0;
}
int isp_request_statistics_yuv_window(uint16_t x_start, uint16_t x_end, uint16_t y_start, uint16_t y_end,
uint16_t x_odd_inc, uint16_t y_odd_inc)
{
requestWindow[0] = x_start;
requestWindow[1] = x_end;
requestWindow[2] = y_start;
requestWindow[3] = y_end;
requestWindow[4] = x_odd_inc;
requestWindow[5] = y_odd_inc;
VERBOSE_PRINT("[YUV-STAT] Requesting window: [%d %d],[%d %d], [%d %d]\n",
requestWindow[0], requestWindow[1], requestWindow[2], requestWindow[3], requestWindow[4], requestWindow[5]);
return 0;
}
static int isp_set_statistics_yuv_window(void)
{
VERBOSE_PRINT("[YUV-STAT] Setting window: [%d %d],[%d %d]\n",
requestWindow[0], requestWindow[1], requestWindow[2], requestWindow[3]);
isp_config.statistics_yuv.window_pos_x.window_x_start = requestWindow[0];
isp_config.statistics_yuv.window_pos_x.window_x_end = requestWindow[1];
isp_config.statistics_yuv.window_pos_y.window_y_start = requestWindow[2];
isp_config.statistics_yuv.window_pos_y.window_y_end = requestWindow[3];
isp_config.statistics_yuv.increments_log2.x_log2_inc = requestWindow[4];
isp_config.statistics_yuv.increments_log2.y_log2_inc = requestWindow[5];
VERBOSE_PRINT("[YUV-STAT] Current settings: [%d %d] [%d %d] [%d %d] [%d %d] [%d] [%d %d] [%d]\n",
isp_config.statistics_yuv.window_pos_x.window_x_start,
isp_config.statistics_yuv.window_pos_x.window_x_end,
isp_config.statistics_yuv.window_pos_y.window_y_start,
isp_config.statistics_yuv.window_pos_y.window_y_end,
isp_config.statistics_yuv.circle_pos_x_center.x_center,
isp_config.statistics_yuv.circle_pos_x_squared.x_squared,
isp_config.statistics_yuv.circle_pos_y_center.y_center,
isp_config.statistics_yuv.circle_pos_y_squared.y_squared,
isp_config.statistics_yuv.circle_radius_squared.radius_squared,
isp_config.statistics_yuv.increments_log2.x_log2_inc,
isp_config.statistics_yuv.increments_log2.y_log2_inc,
isp_config.statistics_yuv.awb_threshold.awb_threshold
);
return 0;
}
/* Get YUV statistics */
int isp_get_statistics_yuv(struct isp_yuv_stats_t *yuv_stats)
{
uint16_t i;
if (isp_ctx.devmem < 0) {
fprintf(stderr, "[YUV-STAT] Error isp_ctx.devmem < 0\n");
return -1;
}
struct avi_isp_statistics_yuv_regs stats_yuv;
avi_isp_statistics_yuv_get_registers(&isp_ctx, &stats_yuv);
if (!stats_yuv.measure_status.done) {
VERBOSE_PRINT("[YUV-STAT] Waiting for YUV stats\n");
curWait++;
if (curWait <= AVI_ISP_STAT_YUV_MAX_WAIT) {
isp_config.statistics_yuv.measure_req.clear = 0; // Clear current results
} else {
isp_config.statistics_yuv.measure_req.clear = 1; // Clear current results
isp_set_statistics_yuv_window();
curWait = 0;
}
avi_isp_statistics_yuv_set_registers(&isp_ctx, &isp_config.statistics_yuv);
return -1;
} else if (stats_yuv.measure_status.error) {
fprintf(stderr, "[YUV-STAT] Error requesting YUV stats\n");
isp_config.statistics_yuv.measure_req.clear = 1; // Clear current results?
curWait = 0;
isp_set_statistics_yuv_window();
avi_isp_statistics_yuv_set_registers(&isp_ctx, &isp_config.statistics_yuv);
return -1;
} else {
isp_config.statistics_yuv.measure_req.clear = 1; // Clear current results?
}
curWait = 0;
yuv_stats->awb_sum_Y = stats_yuv.awb_sum_y.awb_sum_y;
yuv_stats->awb_sum_U = stats_yuv.awb_sum_u.awb_sum_u;
yuv_stats->awb_sum_V = stats_yuv.awb_sum_v.awb_sum_v;
@@ -222,6 +306,7 @@ int isp_get_statistics_yuv(struct isp_yuv_stats_t *yuv_stats)
for (i = 0; i < 256; ++i) {
yuv_stats->ae_histogram_Y[i] = histogram.ae_histogram_y[i].histogram_y;
}
isp_set_statistics_yuv_window();
avi_isp_statistics_yuv_set_registers(&isp_ctx, &isp_config.statistics_yuv);
return 0;

11
sw/airborne/modules/computer_vision/lib/isp/libisp.h → sw/airborne/boards/bebop/isp/libisp.h
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@@ -4,9 +4,6 @@
#include "reg_avi.h"
#include "modules/computer_vision/lib/v4l/v4l2.h"
#define BAYERSTATS_STATX 64
#define BAYERSTATS_STATY 48
#define AVI_DEFINE_NODE(EXPANDER) \
EXPANDER(chain_bayer_inter) \
EXPANDER(vlformat_32to40) \
@@ -100,10 +97,10 @@ struct isp_yuv_stats_t {
uint32_t ae_histogram_Y[256];
};
extern struct libisp_config isp_config;
int configure_isp(struct v4l2_device *dev);
int isp_get_statistics_yuv(struct isp_yuv_stats_t *yuv_stats);
extern int configure_isp(struct v4l2_device *dev);
extern int isp_get_statistics_yuv(struct isp_yuv_stats_t *yuv_stats);
extern int isp_request_statistics_yuv_window(uint16_t x_start, uint16_t x_end, uint16_t y_start, uint16_t y_end,
uint16_t x_odd_inc, uint16_t y_odd_inc);
/* Registers access */
#define EXPAND_AS_PROTOTYPE(_node) \

560
sw/airborne/boards/bebop/isp/libisp_config.h Normal file
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File diff suppressed because it is too large Load Diff

0
sw/airborne/modules/computer_vision/lib/isp/reg_avi.h → sw/airborne/boards/bebop/isp/reg_avi.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_bayer.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_bayer.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_chain_bayer_inter.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_chain_bayer_inter.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_chain_yuv_inter.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_chain_yuv_inter.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_chroma.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_chroma.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_chromatic_aberration.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_chromatic_aberration.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_color_correction.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_color_correction.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_dead_pixel_correction.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_dead_pixel_correction.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_denoising.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_denoising.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_drop.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_drop.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_edge_enhancement_color_reduction_filter.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_edge_enhancement_color_reduction_filter.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_gamma_corrector.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_gamma_corrector.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_green_imbalance.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_green_imbalance.h
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0
sw/airborne/modules/computer_vision/lib/isp/regmap/avi_isp_i3d_lut.h → sw/airborne/boards/bebop/isp/regmap/avi_isp_i3d_lut.h
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