obstacle_rover module

Obstacle rover grid

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="obstacle_rover">
  b'<define name="USE_GRID" value="TRUE|FALSE" />\n  '
</module>

Module configuration options

Define Options

• name: USE_GRID value: TRUE|FALSE
  Description: Use it to enable this module

Module functions

Periodic Functions

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

• decay_map()
  • Frequency in Hz: 100
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• rover_obstacles.h

Source Files

• /obstacles/rover_obstacles.c

Raw obstacle_rover.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="obstacle_rover" dir="firmwares/rover/obstacles">
  <doc>
    <description> 
     Obstacle rover grid
    </description>
    <define name="USE_GRID" value="TRUE|FALSE" description="Use it to enable this module"/>
  </doc>
 
  <settings name="Obstacle Grid">
    <dl_settings>
      <dl_settings NAME="Obstacle Grid">
          <dl_setting MAX="1" MIN="0.5" STEP="0.05" VAR="obstacle_grid.map.threshold" shortname="threshold"/>
          <dl_setting MAX="1" MIN="0.5" STEP="0.05" VAR="obstacle_grid.map.occ" shortname="occupied"/>
          <dl_setting MAX="0.5" MIN="0" STEP="0.05" VAR="obstacle_grid.map.free" shortname="free"/>
          <dl_setting MAX="10" MIN="1" STEP="1"     VAR="grid_block_size" shortname="radius"/>
          <dl_setting MAX="20" MIN="0" STEP="1" VAR="obstacle_grid.map.decay" shortname="decay"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  
  
  <header>
     <file name="rover_obstacles.h"/>
  </header>
  <periodic fun="decay_map()" freq="100" autorun="TRUE"/>
      
  <makefile firmware="rover">
      <file name="rover_obstacles.c" dir="$(SRC_FIRMWARE)/obstacles"/>
      <define name="USE_GRID" value="TRUE"/>
  </makefile>
  
</module>