Paparazzi UAS  v5.15_devel-47-g0391b4d
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stereocam_nav_line_avoid module

Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation

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!

1 <module name="stereocam_nav_line_avoid">
2  <configure name="STEREO_UART" value="UARTX" />
3 </module>

Module configuration options

Configure Options

  • name: STEREO_UART value: UARTX
    Description: Sets the UART port number of the connected camera (required)

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.

  • stereo_avoid_run()
    • Frequency in Hz: 20
    • Autorun: TRUE
      Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw stereocam_nav_line_avoid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stereoavoid" dir="stereocam">
<doc>
<description>Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation</description>
<configure name="STEREO_UART" value="UARTX" description="Sets the UART port number of the connected camera (required)"/>
</doc>
<header>
<file name="nav_line_avoid/stereo_avoid.h"/>
</header>
<init fun="stereo_avoid_init()"/>
<periodic fun="stereo_avoid_run()" freq="20" autorun="TRUE"/>
<makefile>
<configure name="STEREO_UART" default="uart1" case="upper|lower"/>
<configure name="STEREO_BAUD" default="B9600"/>
<configure name="STEREO_LED" default="3"/>
<define name="USE_$(STEREO_UART_UPPER)"/>
<define name="STEREO_UART" value="$(STEREO_UART_LOWER)"/>
<define name="$(STEREO_UART_UPPER)_BAUD" value="$(STEREO_BAUD)"/>
<file name="nav_line_avoid/avoid_navigation.c"/>
</makefile>
<makefile target="ap">
<file name="nav_line_avoid/stereo_avoid.c"/>
</makefile>
<makefile target="nps">
<file name="nav_line_avoid/stereo_avoid_sim.c"/>
</makefile>
</module>