diff --git a/conf/airframes/examples/ardrone2_gazebo_cyberzoo.xml b/conf/airframes/examples/ardrone2_gazebo_cyberzoo.xml
new file mode 100644
index 0000000000..4f48760e60
--- /dev/null
+++ b/conf/airframes/examples/ardrone2_gazebo_cyberzoo.xml
@@ -0,0 +1,220 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/airframes/tudelft/bebop_orangeavoid_course2017.xml b/conf/airframes/tudelft/bebop_orangeavoid_course2017.xml
index 0e0a302f07..b7652ca0c4 100644
--- a/conf/airframes/tudelft/bebop_orangeavoid_course2017.xml
+++ b/conf/airframes/tudelft/bebop_orangeavoid_course2017.xml
@@ -45,9 +45,9 @@
-
+
-
+
@@ -105,6 +105,16 @@
+
+
+
diff --git a/conf/flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml b/conf/flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml
index fd720ca313..f235b05ac0 100644
--- a/conf/flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml
+++ b/conf/flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml
@@ -39,10 +39,10 @@
- nav_block) &&
!(nav_block >= IndexOfBlock('Land here')) &&
- (autopilot_in_flight() == true) )" deroute="Standby"/>
+ (autopilot_in_flight() == true) )" deroute="Standby"/-->
3.5) &&
!(IndexOfBlock('Holding point') > nav_block) &&
!(nav_block >= IndexOfBlock('Land here')) &&
- (autopilot_in_flight == true) )" deroute="Land here"/>
+ (autopilot_in_flight() == true) )" deroute="Land here"/>
+
+
+
+
+
cv_colorfilter.xml
-
+
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
new file mode 100644
index 0000000000..68f135d0e0
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
@@ -0,0 +1,103 @@
+
+
+
+ true
+ 0 0 0 0 0 0
+
+
+ 0 0 0.01 0 0 0
+
+
+
+ 10 10 0.02
+
+
+
+ 0 0 0 1
+ 0.2 0.8 0.2 1
+ 0.2 0.2 0.2 1
+ 0 0 0 0
+
+
+
+
+
+ 10 10 0.02
+
+
+
+
+
+
+ 0 5 5 0 0 0
+
+
+
+ 10 0.2 10
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 10 0.2 10
+
+
+
+
+
+
+ 5 0 5 0 0 0
+
+
+
+ 0.2 10 10
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 0.2 10 10
+
+
+
+
+
+
+ 0 -5 6.25 0 0 0
+
+
+
+ 10 0.2 7.5
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 10 0.2 7.5
+
+
+
+
+
+
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/cyberzoo/model.config b/conf/simulator/gazebo/models/cyberzoo/model.config
new file mode 100644
index 0000000000..8272959314
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/model.config
@@ -0,0 +1,15 @@
+
+
+ Cyberzoo
+ 1.0
+ cyberzoo.sdf
+
+
+ Tom van Dijk
+ tomvand@users.noreply.github.com
+
+
+
+ Cyberzoo coarse model
+
+
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/orange_pole/model.config b/conf/simulator/gazebo/models/orange_pole/model.config
new file mode 100644
index 0000000000..de9b5b1c4a
--- /dev/null
+++ b/conf/simulator/gazebo/models/orange_pole/model.config
@@ -0,0 +1,15 @@
+
+
+ Orange Pole
+ 1.0
+ orange_pole.sdf
+
+
+ Tom van Dijk
+ tomvand@users.noreply.github.com
+
+
+
+ Orange pole as used in the TU Delft Cyberzoo.
+
+
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/orange_pole/orange_pole.sdf b/conf/simulator/gazebo/models/orange_pole/orange_pole.sdf
new file mode 100644
index 0000000000..f81f240046
--- /dev/null
+++ b/conf/simulator/gazebo/models/orange_pole/orange_pole.sdf
@@ -0,0 +1,43 @@
+
+
+
+ 0 0 1.0 0 0 0
+ true
+
+
+ 1.0
+
+
+ 0.083
+ 0.0
+ 0.0
+ 0.083
+ 0.0
+ 0.083
+
+
+
+
+
+ 0.3
+ 2.0
+
+
+
+
+
+
+ 0.2
+ 2.0
+
+
+
+ 1 0.55 0 1
+ 1 0.55 0 1
+ 0.1 0.1 0.1 1
+ 0 0 0 0
+
+
+
+
+
\ No newline at end of file
diff --git a/conf/simulator/gazebo/world/ardrone_cyberzoo.world b/conf/simulator/gazebo/world/ardrone_cyberzoo.world
new file mode 100644
index 0000000000..4412027765
--- /dev/null
+++ b/conf/simulator/gazebo/world/ardrone_cyberzoo.world
@@ -0,0 +1,1588 @@
+
+
+
+ 0.001
+ 0
+
+
+ quick
+ 1
+
+
+
+
+ 0.4 0.4 0.4 1
+ 0.7 0.7 0.7 1
+ 1
+
+
+ 0
+ 0 0 10 0 -0 0
+ 0.8 0.8 0.8 1
+ 0.1 0.1 0.1 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.5 -1
+
+
+ EARTH_WGS84
+ 51.990634
+ 4.376789
+ 0
+ 150
+
+
+
+ model://ardrone
+
+
+
+ 1
+
+
+
+
+ 0 0 1
+ 100 100
+
+
+
+
+
+ 100
+ 50
+
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+ 10
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+ 0 0 1
+ 100 100
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+ 0
+ 0
+ 0
+
+
+ 0 0 -9.8
+ 6e-06 2.3e-05 -4.2e-05
+
+
+
+
+
+ 1
+
+
+ 0 0 1 0 -0 0
+
+
+ 1.5 0.8 0.03
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+ 0.6
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+ 1 1 1
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+ model://powerplant/meshes/powerplant.dae
+ 1 1 1
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+ -1.68422 -6.28019 -0 1e-06 -1e-06 -3.05305
+ 0 0 0 0 -0 0
+ 1.53004 1.29309 -1.41088 -1.33828 1.56536 -0.047231
+ 122.403 103.447 -112.87 0 -0 0
+
+
+
+ 1.4897 -16.402 0 0 -0 0
+ 1 1 1
+
+ 1.4897 -16.402 0.01 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ -4.32267 -5.41265 0 0 -0 0
+ 1 1 1
+
+ -4.32267 -5.41265 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ -2.76277 -5.40361 0 0 -0 0
+ 1 1 1
+
+ -2.76277 -5.40361 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ -1.22632 -5.39461 0 0 -0 0
+ 1 1 1
+
+ -1.22632 -5.39461 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ 0.369055 -5.38977 0 0 -0 0
+ 1 1 1
+
+ 0.369055 -5.38977 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ 0 0 10 0 -0 0
+
+
+
+
+ -29.7009 22.0773 26.2883 0 0.803643 -0.984605
+ orbit
+ perspective
+
+
+
+ 1
+ -0.184743 -0.031412 0 0 -0 0
+
+ 0 0 0.01 0 -0 0
+
+
+
+ 10 10 0.02
+
+
+
+ 0 0 0 1
+ 0.2 0.8 0.2 1
+ 0.2 0.2 0.2 1
+ 0 0 0 0
+
+
+
+
+
+ 10 10 0.02
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0 5 5 0 -0 0
+
+
+
+ 10 0.2 10
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 10 0.2 10
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 5 0 5 0 -0 0
+
+
+
+ 0.2 10 10
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 0.2 10 10
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0 -5 6.25 0 -0 0
+
+
+
+ 10 0.2 7.5
+
+
+
+ 0 0 0 1
+ 0.2 0.2 0.2 1
+ 0 0 0 1
+ 0 0 0 0
+
+
+
+
+
+ 10 0.2 7.5
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+ 0 -0.1 0.95 0 -0 0
+ 80
+
+ 24.88
+ 0
+ 0
+ 25.73
+ 0
+ 2.48
+
+
+
+ 0 -0.1 0.01 0 -0 0
+
+
+ 0.5 0.35 0.02
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0 0 0.02 0.04 -0 0
+
+
+ model://person_standing/meshes/standing.dae
+ 1 1 1
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0 0 0.02 0.04 -0 0
+
+
+ model://person_standing/meshes/standing.dae
+ 1 1 1
+
+
+
+ 0
+ 0
+ 0
+
+ -1.68422 -6.28019 0 0 -0 0
+
+
+
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 94f29e42fd..c2db10209b 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -429,6 +429,17 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
gui_color="green"
/>
+
+
diff --git a/conf/userconf/tudelft/course2017_control_panel.xml b/conf/userconf/tudelft/course2017_control_panel.xml
index 666d1cbcdd..596431901b 100644
--- a/conf/userconf/tudelft/course2017_control_panel.xml
+++ b/conf/userconf/tudelft/course2017_control_panel.xml
@@ -20,6 +20,7 @@
+
diff --git a/sw/airborne/modules/computer_vision/lib/vision/image.c b/sw/airborne/modules/computer_vision/lib/vision/image.c
index 4b5151994a..98b5db5763 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/image.c
+++ b/sw/airborne/modules/computer_vision/lib/vision/image.c
@@ -620,7 +620,7 @@ void image_gradient_pixel(struct image_t *img, struct point_t *loc, int method,
uint8_t add_ind = pixel_width - 1;
// check if all pixels will fall in the image:
- if(loc->x >= 1 && loc->x < img->w-1 && loc->y >= 1 && loc->y < img->h - 1) {
+ if(loc->x >= 1 && (loc->x + 1) < img->w && loc->y >= 1 && (loc->y + 1) < img->h ) {
if(method == 0) {
// *************
diff --git a/sw/airborne/modules/orange_avoider/orange_avoider.c b/sw/airborne/modules/orange_avoider/orange_avoider.c
index 00f84d4d0b..6cfdc60549 100644
--- a/sw/airborne/modules/orange_avoider/orange_avoider.c
+++ b/sw/airborne/modules/orange_avoider/orange_avoider.c
@@ -14,6 +14,7 @@
#include "modules/computer_vision/colorfilter.h"
#include "firmwares/rotorcraft/navigation.h"
#include "generated/flight_plan.h"
+#include "generated/airframe.h"
#include "state.h"
#include
#include
@@ -30,6 +31,31 @@
#define VERBOSE_PRINT(...)
#endif
+#ifndef ORANGE_AVOIDER_LUM_MIN
+#define ORANGE_AVOIDER_LUM_MIN 41
+#endif
+
+#ifndef ORANGE_AVOIDER_LUM_MAX
+#define ORANGE_AVOIDER_LUM_MAX 183
+#endif
+
+#ifndef ORANGE_AVOIDER_CB_MIN
+#define ORANGE_AVOIDER_CB_MIN 53
+#endif
+
+#ifndef ORANGE_AVOIDER_CB_MAX
+#define ORANGE_AVOIDER_CB_MAX 121
+#endif
+
+#ifndef ORANGE_AVOIDER_CR_MIN
+#define ORANGE_AVOIDER_CR_MIN 134
+#endif
+
+#ifndef ORANGE_AVOIDER_CR_MAX
+#define ORANGE_AVOIDER_CR_MAX 249
+#endif
+
+
uint8_t safeToGoForwards = false;
int tresholdColorCount = 0.05 * 124800; // 520 x 240 = 124.800 total pixels
float incrementForAvoidance;
@@ -42,12 +68,12 @@ float maxDistance = 2.25;
void orange_avoider_init()
{
// Initialise the variables of the colorfilter to accept orange
- color_lum_min = 20;
- color_lum_max = 255;
- color_cb_min = 75;
- color_cb_max = 145;
- color_cr_min = 167;
- color_cr_max = 255;
+ color_lum_min = ORANGE_AVOIDER_LUM_MIN;
+ color_lum_max = ORANGE_AVOIDER_LUM_MAX;
+ color_cb_min = ORANGE_AVOIDER_CB_MIN;
+ color_cb_max = ORANGE_AVOIDER_CB_MAX;
+ color_cr_min = ORANGE_AVOIDER_CR_MIN;
+ color_cr_max = ORANGE_AVOIDER_CR_MAX;
// Initialise random values
srand(time(NULL));
chooseRandomIncrementAvoidance();