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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
49 lines
2.6 KiB
XML
49 lines
2.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="orange_avoider_guided" dir="orange_avoider">
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<doc>
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<description>
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This module is an example module for the course AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.
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This module is used in combination with a color filter (cv_detect_color_object) and the guided mode of the autopilot.
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The avoidance strategy is to simply count the total number of orange pixels. When above a certain percentage threshold,
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(given by color_count_frac) we assume that there is an obstacle and we turn.
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The color filter settings are set using the cv_detect_color_object. This module can run multiple filters simultaneously
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so you have to define which filter to use with the ORANGE_AVOIDER_VISUAL_DETECTION_ID setting.
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This module differs from the simpler orange_avoider.xml in that this is flown in guided mode. This flight mode is
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less dependent on a global positioning estimate as with the navigation mode. This module can be used with a simple
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speed estimate rather than a global position.
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Here we also need to use our onboard sensors to stay inside of the cyberzoo and not collide with the nets. For this
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we employ a simple color detector, similar to the orange poles but for green to detect the floor. When the total amount
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of green drops below a given threshold (given by floor_count_frac) we assume we are near the edge of the zoo and turn
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around. The color detection is done by the cv_detect_color_object module, use the FLOOR_VISUAL_DETECTION_ID setting to
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define which filter to use.
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</description>
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<define name="ORANGE_AVOIDER_VISUAL_DETECTION_ID" value="ABI_BROADCAST" description="which VISUAL_DETECTION message to recieve for orange pole detection."/>
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<define name="FLOOR_VISUAL_DETECTION_ID" value="ABI_BROADCAST" description="which VISUAL_DETECTION message to recieve for floor detection."/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="OrangeAvoiderGuided">
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<dl_setting var="oag_color_count_frac" min="0" step="0.01" max="0.5"/>
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<dl_setting var="oag_floor_count_frac" min="0" step="0.01" max="0.5"/>
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<dl_setting var="oag_max_speed" min="0" step="0.1" max="1"/>
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<dl_setting var="oag_heading_rate" min="0" step="5" max="45" unit="rad" alt_unit="deg"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>cv_detect_color_object</depends>
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</dep>
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<header>
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<file name="orange_avoider_guided.h"/>
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</header>
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<init fun="orange_avoider_guided_init()"/>
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<periodic fun="orange_avoider_guided_periodic()" freq="4"/>
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<makefile target="ap|nps">
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<file name="orange_avoider_guided.c"/>
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</makefile>
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</module>
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