mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-09-25 13:28:55 +08:00
restore deleted module and clean other config files (#2697)
This commit is contained in:
Gautier Hattenberger
@@ -21,17 +21,6 @@
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settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="blue"
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/>
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<aircraft
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name="demo_cc3d"
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ac_id="2"
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airframe="airframes/untested/demo_cc3d.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/demo.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/test_actuators_pwm.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
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gui_color="blue"
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/>
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<aircraft
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name="flixr_lisamx"
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ac_id="42"
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@@ -43,61 +32,6 @@
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settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
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gui_color="blue"
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/>
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<aircraft
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name="px4"
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ac_id="36"
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airframe="airframes/untested/quadrotor_px4fmu.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/gps_ubx_ucenter.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"
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gui_color="blue"
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/>
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<aircraft
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name="quad_cc3d"
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ac_id="3"
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airframe="airframes/untested/quad_cc3d.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/dummy.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="blue"
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/>
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<aircraft
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name="quad_flip32"
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ac_id="32"
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airframe="airframes/untested/quad_flip32.xml"
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radio="radios/TGY9x_jeti.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="blue"
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/>
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<aircraft
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name="quad_revo_nano"
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ac_id="4"
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airframe="airframes/untested/quad_revo_nano.xml"
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radio="radios/TGY9x_jeti.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
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gui_color="blue"
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/>
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<aircraft
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name="test_bbb"
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ac_id="1"
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airframe="airframes/untested/beagle_bone_black.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/dummy.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="[settings/test_settings.xml] settings/dummy.xml"
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settings_modules="modules/imu_common.xml"
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gui_color="blue"
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/>
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<aircraft
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name="zmr250_elle0"
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ac_id="40"
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@@ -0,0 +1,217 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: Navstik http://wiki.paparazziuav.org/wiki/Navstik
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* IMU: Navstik http://wiki.paparazziuav.org/wiki/Navstik
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* Actuators: Asctec V2 http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="Quadrotor Navstik">
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<firmware name="rotorcraft">
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<target name="ap" board="navstik_1.0">
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<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c3"/>
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<define name="ACTUATORS_START_DELAY" value="1"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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</module>
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<module name="motor_mixing"/>
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<module name="actuators" type="asctec_v2"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="navstik"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="gps" type="ubx_ucenter"/>
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<!--module name="airspeed_ms45xx_i2c">
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<configure name="MS45XX_I2C_DEV" value="i2c3"/>
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</module>
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<module name="direct_memory_logger"/-->
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</firmware>
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<firmware name="test_progs">
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<configure name="MODEM_PORT" value="UART1"/>
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<target name="test_sys_time_timer" board="navstik_1.0"/>
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<target name="test_telemetry" board="navstik_1.0"/>
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<target name="test_actuators_pwm_sin" board="navstik_1.0"/>
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</firmware>
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<servos driver="Asctec_v2">
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<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
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<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
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<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
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<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
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<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="FRONT" value="motor_mixing.commands[0]"/>
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<set servo="BACK" value="motor_mixing.commands[1]"/>
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<set servo="LEFT" value="motor_mixing.commands[2]"/>
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<set servo="RIGHT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.150"/>
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<define name="G1_Q" value="0.150"/>
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<define name="G1_R" value="0.005119"/>
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<define name="G2_R" value="0.2166"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="900.0"/>
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<define name="REF_ERR_Q" value="900.0"/>
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<define name="REF_ERR_R" value="500.0"/>
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<define name="REF_RATE_P" value="38.0"/>
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<define name="REF_RATE_Q" value="38.0"/>
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<define name="REF_RATE_R" value="25.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<define name="FILT_CUTOFF_R" value="8.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.2"/>
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<define name="ACT_DYN_Q" value="0.2"/>
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<define name="ACT_DYN_R" value="0.2"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="900"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="900"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="900"/>
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<define name="PSI_DGAIN" value="200"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="75"/>
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<define name="THETA_DDGAIN" value="75"/>
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<define name="PSI_DDGAIN" value="75"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
|
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<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
|
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|
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<section name="AUTOPILOT">
|
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
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</airframe>
|
||||
@@ -0,0 +1,41 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="photogrammetry_calculator" dir="cartography">
|
||||
<doc>
|
||||
<description>Photogrammetry navigation functions</description>
|
||||
</doc>
|
||||
<settings>
|
||||
<dl_settings name="control">
|
||||
<dl_settings name="photocalc">
|
||||
|
||||
<dl_setting max="90" min="-90" step="1" module="cartography/photogrammetry_calculator" var="photogrammetry_sweep_angle" shortname="Angle" param="PHOTOGRAMMETRY_SWEEP_ANGLE" unit="rad" alt_unit="deg"/>
|
||||
|
||||
<dl_setting max="95" min="0" step="1" VAR="photogrammetry_sidelap" module="cartography/photogrammetry_calculator" shortname="SideLap %" param="PHOTOGRAMMETRY_SIDELAP" handler="UpdateSideLap" />
|
||||
<dl_setting max="95" min="0" step="1" var="photogrammetry_overlap" module="cartography/photogrammetry_calculator" shortname="OverLap %" param="PHOTOGRAMMETRY_OVERLAP" handler="UpdateOverLap" />
|
||||
<dl_setting max="200" min="1" step="1" var="photogrammetry_resolution" module="cartography/photogrammetry_calculator" shortname="Pixel mm" param="PHOTOGRAMMETRY_RESOLUTION" handler="UpdateResolution" />
|
||||
|
||||
<dl_setting max="500" min="1" step="1" var="photogrammetry_height_min" shortname="h_min" />
|
||||
<dl_setting max="500" min="1" step="1" var="photogrammetry_height_max" shortname="h_max" />
|
||||
<dl_setting max="500" min="1" step="1" var="photogrammetry_radius_min" shortname="r_min" />
|
||||
|
||||
|
||||
<dl_setting max="500" min="1" step="1" var="photogrammetry_height" module="cartography/photogrammetry_calculator" shortname="computed height" handler="UpdateHeight" />
|
||||
<dl_setting max="1000" min="1" step="1" var="photogrammetry_sidestep" module="cartography/photogrammetry_calculator" shortname="computed sidestep" handler="UpdateSideStep" />
|
||||
<dl_setting max="1000" min="1" step="1" var="photogrammetry_triggerstep" module="cartography/photogrammetry_calculator" shortname="computed trigger" handler="UpdateTriggerStep" />
|
||||
|
||||
</dl_settings>
|
||||
</dl_settings>
|
||||
</settings>
|
||||
<header>
|
||||
<file name="photogrammetry_calculator.h"/>
|
||||
</header>
|
||||
<init fun="init_photogrammetry_calculator()"/>
|
||||
<!--
|
||||
<periodic fun="periodic_1Hz_demo()" freq="1." start="start_demo()" stop="stop_demo()" autorun="TRUE"/>
|
||||
-->
|
||||
<makefile>
|
||||
<define name="photogrammetry_calculator_LED" value="2"/>
|
||||
<file name="photogrammetry_calculator.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,122 @@
|
||||
/*
|
||||
* Copyright (C) 2009 Christophe De Wagter
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "photogrammetry_calculator.h"
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "generated/flight_plan.h"
|
||||
|
||||
/** Default sweep angle in radians from north */
|
||||
#ifndef PHOTOGRAMMETRY_SWEEP_ANGLE
|
||||
#define PHOTOGRAMMETRY_SWEEP_ANGLE 0
|
||||
#endif
|
||||
|
||||
/** overlap 1-99 percent */
|
||||
#ifndef PHOTOGRAMMETRY_OVERLAP
|
||||
#define PHOTOGRAMMETRY_OVERLAP 50
|
||||
#endif
|
||||
|
||||
/** sidelap 1-99 percent */
|
||||
#ifndef PHOTOGRAMMETRY_SIDELAP
|
||||
#define PHOTOGRAMMETRY_SIDELAP 50
|
||||
#endif
|
||||
|
||||
/** mm pixel projection size */
|
||||
#ifndef PHOTOGRAMMETRY_RESOLUTION
|
||||
#define PHOTOGRAMMETRY_RESOLUTION 50
|
||||
#endif
|
||||
|
||||
|
||||
// Flightplan Paramters
|
||||
float photogrammetry_sweep_angle = 0; // in rad
|
||||
|
||||
int photogrammetry_sidestep = 0;
|
||||
int photogrammetry_triggerstep = 0;
|
||||
int photogrammetry_height = 0;
|
||||
|
||||
// Photogrammetry Goals
|
||||
int photogrammetry_sidelap; // Percent 0 - 100
|
||||
int photogrammetry_overlap; // Percent 0 - 100
|
||||
int photogrammetry_resolution; // Millimeter per pixel
|
||||
|
||||
// Safety Aspects
|
||||
int photogrammetry_height_min;
|
||||
int photogrammetry_height_max;
|
||||
int photogrammetry_radius_min;
|
||||
|
||||
|
||||
void init_photogrammetry_calculator(void)
|
||||
{
|
||||
photogrammetry_sweep_angle = PHOTOGRAMMETRY_SWEEP_ANGLE;
|
||||
|
||||
photogrammetry_sidelap = PHOTOGRAMMETRY_SIDELAP;
|
||||
photogrammetry_overlap = PHOTOGRAMMETRY_OVERLAP;
|
||||
photogrammetry_resolution = PHOTOGRAMMETRY_RESOLUTION;
|
||||
|
||||
photogrammetry_height_min = PHOTOGRAMMETRY_HEIGHT_MIN;
|
||||
photogrammetry_height_max = PHOTOGRAMMETRY_HEIGHT_MAX;
|
||||
photogrammetry_radius_min = PHOTOGRAMMETRY_RADIUS_MIN;
|
||||
|
||||
photogrammetry_calculator_update_camera2flightplan();
|
||||
}
|
||||
|
||||
void photogrammetry_calculator_update_camera2flightplan(void)
|
||||
{
|
||||
|
||||
// Photogrammetry Goals
|
||||
float photogrammetry_sidelap_f = ((float) photogrammetry_sidelap) / 100.0f;
|
||||
float photogrammetry_overlap_f = ((float) photogrammetry_overlap) / 100.0f;
|
||||
|
||||
// Linear Projection Camera Model
|
||||
float viewing_ratio_height = ((float) PHOTOGRAMMETRY_SENSOR_HEIGHT) / ((float)PHOTOGRAMMETRY_FOCAL_LENGTH);
|
||||
float viewing_ratio_width = ((float) PHOTOGRAMMETRY_SENSOR_WIDTH) / ((float)PHOTOGRAMMETRY_FOCAL_LENGTH);
|
||||
float pixel_projection_width = viewing_ratio_width / ((float)PHOTOGRAMMETRY_PIXELS_WIDTH);
|
||||
|
||||
// Flightplan Variables
|
||||
photogrammetry_height = ((float) photogrammetry_resolution) / pixel_projection_width / 1000.0f;
|
||||
|
||||
if (photogrammetry_height > photogrammetry_height_max) {
|
||||
photogrammetry_height = photogrammetry_height_max;
|
||||
} else if (photogrammetry_height < photogrammetry_height_min) {
|
||||
photogrammetry_height = photogrammetry_height_min;
|
||||
}
|
||||
|
||||
photogrammetry_sidestep = viewing_ratio_width * photogrammetry_height * (1.0f - photogrammetry_sidelap_f);
|
||||
photogrammetry_triggerstep = viewing_ratio_height * photogrammetry_height * (1.0f - photogrammetry_overlap_f);
|
||||
}
|
||||
|
||||
void photogrammetry_calculator_update_flightplan2camera(void)
|
||||
{
|
||||
// Linear Projection Camera Model
|
||||
float viewing_ratio_height = ((float) PHOTOGRAMMETRY_SENSOR_HEIGHT) / ((float)PHOTOGRAMMETRY_FOCAL_LENGTH);
|
||||
float viewing_ratio_width = ((float) PHOTOGRAMMETRY_SENSOR_WIDTH) / ((float)PHOTOGRAMMETRY_FOCAL_LENGTH);
|
||||
float pixel_projection_width = viewing_ratio_width / ((float)PHOTOGRAMMETRY_PIXELS_WIDTH);
|
||||
|
||||
// Resolution <-> Height
|
||||
photogrammetry_resolution = photogrammetry_height * 1000.0f * pixel_projection_width;
|
||||
|
||||
// Overlap <-> track width
|
||||
photogrammetry_sidelap = 100.0f - photogrammetry_sidestep / viewing_ratio_width / photogrammetry_height * 100.0f;
|
||||
photogrammetry_overlap = 100.0f - photogrammetry_triggerstep / viewing_ratio_height / photogrammetry_height * 100.0f;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,152 @@
|
||||
/*
|
||||
* Copyright (C) 2009 Christophe De Wagter
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** @file modules/cartography/photogrammetry_calculator.h
|
||||
|
||||
Add to airframe file:
|
||||
|
||||
@verbatim
|
||||
<section name="Photogrammetry" prefix="PHOTOGRAMMETRY_">
|
||||
<!-- Camera Parameters -->
|
||||
<define name="FOCAL_LENGTH" value="35" unit="mm"/>
|
||||
<define name="SENSOR_WIDTH" value="24" unit="mm"/> <!-- In direction of the plane's wings -->
|
||||
<define name="SENSOR_HEIGHT" value="13.5" unit="mm"/> <!-- In direction of the plane's nose -->
|
||||
<define name="PIXELS_WIDTH" value="1024" unit=""/>
|
||||
|
||||
<!-- Flight Safety Parameters -->
|
||||
<define name="HEIGHT_MIN" value="35" unit="m"/>
|
||||
<define name="HEIGHT_MAX" value="500" unit="m"/>
|
||||
<define name="RADIUS_MIN" value="70" unit="m"/>
|
||||
</section>
|
||||
|
||||
<modules>
|
||||
<load name="photogrammetry_calculator.xml" />
|
||||
</modules>
|
||||
@endverbatim
|
||||
|
||||
Add to flightplan or airframe file:
|
||||
@verbatim
|
||||
<!-- Photogrammetry Parameters: define these in the flightplan-->
|
||||
<define name="OVERLAP" value="0.5" unit="PROCENT"/>
|
||||
<define name="SIDELAP" value="0.5" unit="PROCENT"/>
|
||||
<define name="RESOLUTION" value="50" unit="mm pixel projection"/>
|
||||
@endverbatim
|
||||
|
||||
Add to flightplan
|
||||
@verbatim
|
||||
<header>
|
||||
#define PHOTOGRAMMETRY_SWEEP_ANGLE RadOfDeg(53) // angle in radians from the North
|
||||
#define PHOTOGRAMMETRY_OVERLAP 50 // 1-99 Procent
|
||||
#define PHOTOGRAMMETRY_SIDELAP 50 // 1-99 Procent
|
||||
#define PHOTOGRAMMETRY_RESOLUTION 80 // mm pixel projection size
|
||||
</header>
|
||||
|
||||
<block group="survey" name="Initialize Poly Survey 56789" strip_button="Survey5678" strip_icon="survey.png">
|
||||
<call fun="PhotogrammetryCalculatorPolygonSurvey(WP_5, 5)"/>
|
||||
<call fun="PolygonSurvey()"/>
|
||||
</block>
|
||||
<block group="survey" name="Initialize ADV Poly 1234 Survey" strip_button="SurveyADV" strip_icon="survey.png">
|
||||
<call fun="PhotogrammetryCalculatorPolygonSurveyADV(WP_1, 4)"/>
|
||||
<call fun="poly_survey_adv()"/>
|
||||
</block>
|
||||
@endverbatim
|
||||
|
||||
*/
|
||||
|
||||
#ifndef PHOTOGRAMMETRY_CALCULATOR_H
|
||||
#define PHOTOGRAMMETRY_CALCULATOR_H
|
||||
|
||||
#include "std.h"
|
||||
#include "paparazzi.h"
|
||||
|
||||
#include "modules/nav/nav_survey_poly_osam.h"
|
||||
#include "modules/nav/nav_survey_polygon.h"
|
||||
|
||||
|
||||
// Flightplan Variables
|
||||
extern float photogrammetry_sweep_angle;
|
||||
extern int photogrammetry_sidestep;
|
||||
extern int photogrammetry_triggerstep;
|
||||
extern int photogrammetry_height;
|
||||
|
||||
extern int photogrammetry_height_min;
|
||||
extern int photogrammetry_height_max;
|
||||
extern int photogrammetry_radius_min;
|
||||
|
||||
|
||||
// Photogrammetry Goals
|
||||
extern int photogrammetry_sidelap;
|
||||
extern int photogrammetry_overlap;
|
||||
extern int photogrammetry_resolution;
|
||||
|
||||
void init_photogrammetry_calculator(void);
|
||||
void photogrammetry_calculator_update_camera2flightplan(void);
|
||||
void photogrammetry_calculator_update_flightplan2camera(void);
|
||||
|
||||
// Update Flightplan on Camera Change
|
||||
#define photogrammetry_calculator_UpdateSideLap(X) { \
|
||||
photogrammetry_sidelap = X; \
|
||||
photogrammetry_calculator_update_camera2flightplan(); \
|
||||
}
|
||||
|
||||
#define photogrammetry_calculator_UpdateOverLap(X) { \
|
||||
photogrammetry_overlap = X; \
|
||||
photogrammetry_calculator_update_camera2flightplan(); \
|
||||
}
|
||||
|
||||
#define photogrammetry_calculator_UpdateResolution(X) { \
|
||||
photogrammetry_resolution = X; \
|
||||
photogrammetry_calculator_update_camera2flightplan(); \
|
||||
}
|
||||
|
||||
// Update Camera on Flightplan Change
|
||||
#define photogrammetry_calculator_UpdateHeight(X) { \
|
||||
photogrammetry_height = X; \
|
||||
photogrammetry_calculator_update_flightplan2camera(); \
|
||||
}
|
||||
|
||||
#define photogrammetry_calculator_UpdateSideStep(X) { \
|
||||
photogrammetry_sidestep = X; \
|
||||
photogrammetry_calculator_update_flightplan2camera(); \
|
||||
}
|
||||
|
||||
#define photogrammetry_calculator_UpdateTriggerStep(X) { \
|
||||
photogrammetry_triggerstep = X; \
|
||||
photogrammetry_calculator_update_flightplan2camera(); \
|
||||
}
|
||||
|
||||
|
||||
// Flightplan Routine Wrappers
|
||||
#define PhotogrammetryCalculatorPolygonSurveyOsam(_WP, _COUNT) { \
|
||||
WaypointAlt(_WP) = photogrammetry_height + GROUND_ALT; \
|
||||
int _ang = 90 - DegOfRad(photogrammetry_sweep_angle); \
|
||||
while (_ang > 90) _ang -= 180; while (_ang < -90) _ang += 180; \
|
||||
nav_survey_poly_osam_setup((_WP), (_COUNT), 2*photogrammetry_sidestep, _ang); \
|
||||
}
|
||||
|
||||
#define PhotogrammetryCalculatorPolygonSurvey(_WP, _COUNT) { \
|
||||
nav_survey_polygon_setup((_WP), (_COUNT), DegOfRad(photogrammetry_sweep_angle), \
|
||||
photogrammetry_sidestep, photogrammetry_triggerstep, \
|
||||
photogrammetry_radius_min, photogrammetry_height + GROUND_ALT); \
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user