Paparazzi UAS  v5.15_devel-46-gd23ed71
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obstacle_avoidance module

Obstacle avoidance module

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="obstacle_avoidance"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

  • serial_update()
    • Frequency in Hz: 512
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.
    • Start function: serial_start()
      Executed before the periodic function starts.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw obstacle_avoidance.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="obstacle_avoidance" dir="obstacle_avoidance">
<doc>
<description>Obstacle avoidance module</description>
</doc>
<settings>
<dl_settings NAME="OA_variables">
<dl_settings NAME="vision_stab">
<dl_setting var="opticflow_stab.phi_pgain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="10000" shortname="kp_v_phi" param="VISION_PHI_PGAIN"/>
<dl_setting var="opticflow_stab.phi_igain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="ki_v_phi" param="VISION_PHI_IGAIN"/>
<dl_setting var="opticflow_stab.theta_pgain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="10000" shortname="kp_v_theta" param="VISION_THETA_PGAIN"/>
<dl_setting var="opticflow_stab.theta_igain" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="ki_v_theta" param="VISION_THETA_IGAIN"/>
<dl_setting var="opticflow_stab.desired_vx" module="obstacle_avoidance/guidance_OA" min="-5" step="0.01" max="5" shortname="desired_vx" param="VISION_DESIRED_VX"/>
<dl_setting var="opticflow_stab.desired_vy" module="obstacle_avoidance/guidance_OA" min="-5" step="0.01" max="5" shortname="desired_vy" param="VISION_DESIRED_VY"/>
</dl_settings>
<dl_settings NAME="OA_general">
<dl_setting var="OA_method_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="6" shortname="OA_method" param="OA_method"/>
<dl_setting var="repulsionforce_filter_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1" shortname="Obst_force_filter" param="Obst_force_filter"/>
<dl_setting var="opti_speed_flag" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1" shortname="opti_speed_flag" param="opti_speed_flag"/>
<dl_setting var="vref_max" module="obstacle_avoidance/guidance_OA" min="0" step="1" max="1000" shortname="vref_max" param="vref_max"/>
</dl_settings>
<dl_settings name="Vector_method">
<dl_setting var="F1" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="F1" param="F1"/>
<dl_setting var="F2" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="F2" param="F2"/>
<dl_setting var="Cfreq" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="5" shortname="Cfreq" param="Cfreq"/>
<dl_setting var="Ko" module="obstacle_avoidance/obstacle_avoidance" min="0" step="10" max="50000" shortname="Ko" param="Ko"/>
<dl_setting var="Kg" module="obstacle_avoidance/obstacle_avoidance" min="0" step="1" max="250" shortname="Kg" param="Kg"/>
<dl_setting var="Dist_offset" module="obstacle_avoidance/obstacle_avoidance" min="-1" step="0.01" max="1" shortname="Dist_offset" param="Dist_offset"/>
<dl_setting var="dis_treshold" module="obstacle_avoidance/obstacle_avoidance" min="0" step="1" max="15" shortname="dis_treshold" param="dis_treshold"/>
<dl_setting var="dx_ref" module="obstacle_avoidance/obstacle_avoidance" min="-10" step="1" max="10" shortname="dx_ref" param="dx_ref"/>
<dl_setting var="dy_ref" module="obstacle_avoidance/obstacle_avoidance" min="-10" step="1" max="10" shortname="dy_ref" param="dy_ref"/>
</dl_settings>
<dl_settings name="Pot_method">
<dl_setting var="K_obst" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="10000" shortname="K_obst" param="K_obst"/>
<dl_setting var="K_goal" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="1000" shortname="K_goal" param="K_goal"/>
<dl_setting var="b_damp" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="1000" shortname="b_damp" param="b_damp"/>
<dl_setting var="c1_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c1" param="c1"/>
<dl_setting var="c2_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c2" param="c2"/>
<dl_setting var="c3_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c3" param="c3"/>
<dl_setting var="c4_oa" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="c4" param="c4"/>
<dl_setting var="kv" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.1" max="500" shortname="kv" param="kv"/>
<dl_setting var="epsilon" module="obstacle_avoidance/obstacle_avoidance" min="0" step="0.01" max="1" shortname="epsilon" param="epsilon"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="obstacle_avoidance.h"/>
<file name="guidance_OA.h"/>
</header>
<init fun="serial_init()"/>
<periodic fun="serial_update()" start="serial_start()" stop="serial_stop()" freq="512"/>
<makefile>
<file name="obstacle_avoidance.c"/>
<file name="guidance_OA.c"/>
<raw>
ap.CFLAGS += -DGUIDANCE_V_MODE_MODULE_SETTING=GUIDANCE_V_MODE_HOVER
ap.CFLAGS += -DGUIDANCE_H_MODE_MODULE_SETTING=GUIDANCE_H_MODE_MODULE
</raw>
</makefile>
</module>