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Flight plan example for autopilot mode guided (#2101)

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Use flight plan state machine to control a rotorcraft in guided mode.
Also use ABI messages to send color detection information.
This commit is contained in:
knmcguire
2017-08-23 18:19:32 +02:00
committed by Gautier Hattenberger
parent 4894fe8ba7
commit f400d5748f
8 changed files with 163 additions and 8 deletions
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conf/conf_example.xml
+11
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@@ -241,6 +241,17 @@
settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml 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"
gui_color="red"
/>
<aircraft
name="ardrone2_flightplan_guided_gazebo"
ac_id="35"
airframe="airframes/examples/ardrone2_gazebo.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml 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"
gui_color="red"
/>
<aircraft
name="ardrone2_gazebo"
ac_id="32"