mirror of
https://github.com/paparazzi/paparazzi.git
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Pull request with all the code for 6 DOF optical flow control, the ba… (#3028)
* Pull request with all the code for 6 DOF optical flow control, the basis of a Nature and Nature Machine Intelligence paper. * Camera ID was already added. * Remove a duplicate airframe file. * Cleanup * Simulator does not work with opticflow * Incorporated comments review * fix provides --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
This commit is contained in:
guidoAI
GitHub
@@ -7,23 +7,34 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
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settings="settings/rotorcraft_basic.xml"
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gui_color="#fffff996b847"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml"
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gui_color="#fffff996b847"
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/>
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<aircraft
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name="Bebop2_opticflow"
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ac_id="4"
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airframe="airframes/tudelft/bebop2_opticflow.xml"
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ac_id="5"
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airframe="airframes/examples/bebop2_opticflow.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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telemetry="telemetry/highspeed_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
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settings_modules="modules/bebop_cam.xml modules/cv_opticflow.xml modules/cv_textons.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_flow.xml modules/nav_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
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gui_color="red"
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/>
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<aircraft
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name="Bebop2_opticflow_sim"
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ac_id="4"
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airframe="airframes/tudelft/tudelft_bebop2_opticflow_sim.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/tudelft/rotorcraft_guido_optitrack.xml"
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settings="settings/rotorcraft_basic.xml [settings/control/stabilization_indi.xml] settings/control/rotorcraft_speed.xml"
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settings_modules="modules/air_data.xml modules/cv_opticflow.xml [modules/cv_textons.xml] modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_flow.xml modules/nav_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
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gui_color="blue"
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/>
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<aircraft
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name="Bebop2_undistort_front"
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ac_id="5"
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ac_id="6"
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airframe="airframes/tudelft/bebop2_undistort_front.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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@@ -4,84 +4,85 @@
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<program name="Data Link" command="sw/ground_segment/tmtc/link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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</program>
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<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
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<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-edit"/>
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<program name="GCS" command="sw/ground_segment/cockpit/gcs">
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<arg flag="-speech"/>
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<arg flag="-maximize"/>
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<arg flag="-center_ac"/>
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<arg flag="-mercator"/>
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<arg flag="-maps_no_http"/>
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<arg flag="-track_size" constant="200"/>
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<arg flag="-zoom" constant="40."/>
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</program>
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<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
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<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
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<program name="Settings" command="sw/ground_segment/tmtc/settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>
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<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
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<program name="Log Plotter" command="sw/logalizer/logplotter"/>
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<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
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<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>
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<program name="Log File Player" command="sw/logalizer/play"/>
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<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
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<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
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<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="xbox_gamepad.xml"/>
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<arg flag="sm600.xml"/>
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</program>
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<program name="Hardware in the Loop" command="sw/simulator/simhitl"/>
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<program name="Environment Simulator" command="sw/simulator/gaia"/>
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<program name="Http Server" command="$python">
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<arg flag="-m" constant="SimpleHTTPServer"/>
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<arg flag="8889"/>
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</program>
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<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
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<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
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<arg flag="-d" constant="/dev/ttyUSB1"/>
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</program>
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<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
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<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
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<program name="NatNet3" command="sw/ground_segment/python/natnet3.x/natnet2ivy.py"/>
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<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
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<arg flag="--port" constant="/dev/ttyUSB1"/>
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<arg flag="--id" constant="1"/>
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</program>
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<program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="scan" />
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</program>
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<program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
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<arg flag="/dev/ttyACM2"/>
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<arg flag="00:07:00:2d:d6:bb" />
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<arg flag="4242" />
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<arg flag="4252" />
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</program>
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<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
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<program name="Gazebo" command="sw/tools/gzclient_launcher.sh"/>
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<program name="Real-time Distance Counter" command="sw/ground_segment/python/distance_counter/dist.py"/>
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</section>
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<section name="sessions">
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<session name="Bluegiga">
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<session name="Simulation - Gazebo">
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<program name="Simulator">
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<arg flag="-a" constant="@AIRCRAFT"/>
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<arg flag="-t" constant="nps"/>
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</program>
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<program name="Data Link">
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<arg flag="-udp"/>
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<arg flag="-udp_port" constant="4242"/>
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<arg flag="-udp_uplink_port" constant="4252"/>
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<arg flag="-ping_period" constant="100"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="Server"/>
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<program name="Messages"/>
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<program name="GCS">
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<arg flag="-speech" />
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<arg flag="-speech"/>
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<arg flag="-maximize"/>
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<arg flag="-center_ac"/>
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<arg flag="-mercator"/>
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<arg flag="-maps_no_http"/>
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<arg flag="-track_size" constant="200"/>
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<arg flag="-zoom" constant="40."/>
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</program>
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<program name="NatNet3">
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<arg flag="-ac" constant="1"/>
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<arg flag="12"/>
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<arg flag="-sm"/>
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<arg flag="-f" constant="5"/>
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<arg flag="-zf"/>
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<arg flag="-o"/>
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<program name="Gazebo"/>
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</session>
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<session name="Simulation - Gazebo + Joystick">
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<program name="Simulator">
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<arg flag="-a" constant="@AIRCRAFT"/>
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<arg flag="-t" constant="nps"/>
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</program>
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<program name="Data Link">
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<arg flag="-udp"/>
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<arg flag="-ping_period" constant="100"/>
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</program>
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<program name="Server">
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<arg flag="-n"/>
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</program>
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<program name="GCS">
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<arg flag="-speech"/>
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<arg flag="-maximize"/>
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<arg flag="-center_ac"/>
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<arg flag="-mercator"/>
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<arg flag="-maps_no_http"/>
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<arg flag="-track_size" constant="200"/>
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<arg flag="-zoom" constant="40."/>
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</program>
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<program name="Joystick">
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<arg flag="-d" constant="2"/>
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="hobbyking.xml"/>
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<arg flag="sm600.xml"/>
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<arg flag="-d 0"/>
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</program>
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<program name="Gazebo"/>
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</session>
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<session name="Guido">
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<session name="Flight UDP">
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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@@ -90,156 +91,36 @@
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<arg flag="-speech"/>
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</program>
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<program name="Joystick">
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<arg flag="-ac" constant="ARDrone2_optitrack"/>
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<arg flag="hobbyking.xml"/>
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<arg flag="-d" constant="1"/>
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="sm600.xml"/>
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<arg flag="-d 0"/>
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</program>
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<program name="NatNet3">
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<arg flag="-ac" constant="2"/>
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<arg flag="11"/>
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<arg flag="-zf"/>
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<arg flag="-o"/>
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<program name="NatNet">
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<arg flag="-ac 9999" constant="@AC_ID"/>
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</program>
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</session>
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<session name="Flight USB0 @57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyUSB0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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</program>
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<session name="Distance Counter">
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<program name="Real-time Distance Counter"/>
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</session>
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<session name="Flight Paparazzi @57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/paparazzi/link"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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</program>
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</session>
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<session name="Flight ACM1 @57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM1"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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</program>
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</session>
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<session name="Flight ACM0 @57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/ttyACM0"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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</program>
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</session>
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<session name="Flight XBee @57600">
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<program name="Data Link">
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<arg flag="-d" constant="/dev/paparazzi/xbee"/>
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<arg flag="-transport" constant="xbee"/>
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<arg flag="-s" constant="57600"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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</program>
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</session>
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<session name="Flight UDP">
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<session name="optic flow hover">
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<program name="Data Link">
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<arg flag="-udp"/>
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</program>
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<program name="Server"/>
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<program name="GCS">
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<arg flag="-speech" />
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<arg flag="-speech"/>
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</program>
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</session>
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<session name="Raw Sensors">
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+750"/>
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<arg flag="-t" constant="BARO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="101325.0"/>
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<arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
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<program name="Joystick">
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<arg flag="-ac" constant="Bebop2_opticflow"/>
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<arg flag="sm600.xml"/>
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<arg flag="-d" constant="0"/>
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</program>
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</session>
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<session name="Scaled Sensors">
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<program name="Real-time Plotter">
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<arg flag="-g" constant="1000x250-0+0"/>
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<arg flag="-t" constant="ACC"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="9.81"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="-9.81"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
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<arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+250"/>
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<arg flag="-t" constant="GYRO"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
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<arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
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<arg flag="-n"/>
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<arg flag="-g" constant="1000x250-0+500"/>
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<arg flag="-t" constant="MAG"/>
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<arg flag="-u" constant="0.05"/>
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<arg flag="-c" constant="0.00"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
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<arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
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<program name="NatNet">
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<arg flag="-ac 9999" constant="5"/>
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</program>
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</session>
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<session name="Messages and Settings">
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<program name="Messages (Python)"/>
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<program name="Real-time Plotter"/>
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<program name="Messages"/>
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<program name="Settings">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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</program>
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</session>
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<session name="Joystick Hobbyking">
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<program name="Joystick">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="hobbyking.xml"/>
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</program>
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</session>
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<session name="Joystick X3D Pro">
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<program name="Joystick">
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<arg flag="-ac" constant="@AIRCRAFT"/>
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<arg flag="extreme_3d_pro.xml"/>
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</program>
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</session>
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</section>
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</control_panel>
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