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!

<module name="stereocam_nav_line_avoid">
  b'<configure name="STEREO_UART" value="UARTX" />\n  '
</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.

• stereo_avoid_init()

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

• nav_line_avoid/stereo_avoid.h

Source Files

• modules/stereocam/nav_line_avoid/avoid_navigation.c
• modules/stereocam/nav_line_avoid/stereo_avoid.c
• modules/stereocam/nav_line_avoid/stereo_avoid_sim.c

Raw stereocam_nav_line_avoid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="stereocam_nav_line_avoid" 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>