Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-10 15:09:25 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

[opticflow] more cleanup

Browse Source
This commit is contained in:
Felix Ruess
2015-01-29 10:44:43 +01:00
parent 9df34e1ed3
commit ee596bc333
4 changed files with 16 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/cv_opticflow.xml
+10 -7
View File
@@ -12,14 +12,17 @@
- Controller can hold position
</description>
<section name="VISION" prefix="VISION_">
<define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/>
<define name="PHI_PGAIN" value="500" description="optic flow pgain"/>
<define name="PHI_IGAIN" value="10" description="optic flow igain"/>
<define name="THETA_PGAIN" value="500" description="optic flow pgain"/>
<define name="THETA_IGAIN" value="10" description="optic flow igain"/>
<define name="DESIRED_VX" value="0" description="feedforward optic flow vx"/>
<define name="DESIRED_VY" value="0" description="feedforward optic flow vy"/>
</section>
<define name="DOWNLINK_VIDEO" value="FALSE" description="Also stream video: warning: this makes the optic flow slow: DEBUGGING only" />
<define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/>
<define name="PHI_PGAIN" value="500" description="optic flow pgain"/>
<define name="PHI_IGAIN" value="10" description="optic flow igain"/>
<define name="THETA_PGAIN" value="500" description="optic flow pgain"/>
<define name="THETA_IGAIN" value="10" description="optic flow igain"/>
<define name="DESIRED_VX" value="0" description="feedforward optic flow vx"/>
<define name="DESIRED_VY" value="0" description="feedforward optic flow vy"/>
<define name="OPTICFLOW_AGL_ID" value="ABI_SENDER_ID" description="ABI sender id for AGL message (sonar measurement) (default: ABI_BROADCAST)"/>
</doc>
<settings>
<dl_settings>
sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
+4 -3
View File
@@ -22,7 +22,8 @@
* @file modules/computer_vision/opticflow/hover_stabilization.c
* @brief optical-flow based hovering for Parrot AR.Drone 2.0
*
* Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
* Control loops for optic flow based hovering.
* Computes setpoint for the lower level attitude stabilization to control horizontal velocity.
*/
// Own Header
@@ -195,6 +196,6 @@ void run_opticflow_hover(void)
else if (cmd_euler.theta > CMD_OF_SAT) {cmd_euler.theta = CMD_OF_SAT; saturateY = 1;}
stabilization_attitude_set_rpy_setpoint_i(&cmd_euler);
DOWNLINK_SEND_VISION_STABILIZATION(DefaultChannel, DefaultDevice, &Velx, &Vely, &Velx_Int, &Vely_Int, &cmd_euler.phi,
&cmd_euler.theta);
DOWNLINK_SEND_VISION_STABILIZATION(DefaultChannel, DefaultDevice, &Velx, &Vely, &Velx_Int,
&Vely_Int, &cmd_euler.phi, &cmd_euler.theta);
}
sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
+2 -1
View File
@@ -22,7 +22,8 @@
* @file modules/computer_vision/opticflow/hover_stabilization.h
* @brief optical-flow based hovering for Parrot AR.Drone 2.0
*
* Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
* Control loops for optic flow based hovering.
* Computes setpoint for the lower level attitude stabilization to control horizontal velocity.
*/
#ifndef HOVER_STABILIZATION_H_
sw/airborne/modules/computer_vision/opticflow_module.c
-3
View File
@@ -31,9 +31,6 @@
// Navigate Based On Vision, needed to call init/run_hover_stabilization_onvision
#include "opticflow/hover_stabilization.h"
// Paparazzi
#include "state.h" // for attitude
// Threaded computer vision
#include <pthread.h>