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Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
These initialization functions are called once on startup.
These functions are called periodically at the specified frequency from the module periodic loop.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="wedgebug" dir="wedgebug">
<doc>
<description> An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision. </description>
<define name="WEDGEBUG_CAMERA_RIGHT" value="front_camera|bottom_camera" description="Video device to use"/>
<define name="WEDGEBUG_CAMERA_LEFT" value="front_camera|bottom_camera" description="Video device to use"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="W-Disparity">
<dl_setting var="SE_opening_OCV" min="5" step="1" max = "401" shortname="SE_op"/>
<dl_setting var="SE_closing_OCV" min="5" step="1" max = "401" shortname="SE_clo"/>
<dl_setting var="SE_dilation_OCV_1" min="5" step="1" max = "401" shortname="SE_dil_1"/>
<dl_setting var="SE_dilation_OCV_2" min="5" step="1" max = "101" shortname="SE_dil_2"/>
<dl_setting var="SE_erosion_OCV" min="5" step="1" max = "101" shortname="SE_ero"/>
<dl_setting var="K_median_w" min="1" step="1" max = "321" shortname="K_med_w"/>
<dl_setting var="K_median_h" min="1" step="1" max = "321" shortname="K_med_h"/>
<dl_setting var="threshold_median_depth" min="0" step="1" max = "10000" shortname="thr_obs_depth"/>
<dl_setting var="threshold_depth_of_edges" min="0" step="1" max = "10000" shortname="thr_edge_depth"/>
<dl_setting var="threshold_edge_magnitude" min="0" step="50" max = "50000" shortname="thr_edge_mag"/>
<dl_setting var="threshold_distance_to_goal" min="0.00" step="0.05" max = "1.00" shortname="thr_goal_dist"/>
<dl_setting var="threshold_distance_to_angle" min="0.0" step="0.1" max = "3.1" shortname="thr_angle_dist"/>
<dl_setting var="max_obstacle_confidence" min="0" step="1" max = "50" shortname="conf_obs"/>
<dl_setting var="max_free_path_confidence " min="0" step="1" max = "50" shortname="conf_free"/>
<dl_setting var="max_position_confidence" min="0" step="1" max = "50" shortname="conf_pos"/>
<dl_setting var="max_heading_confidence" min="0" step="1" max = "50" shortname="conf_head"/>
<dl_setting var="max_edge_found_micro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mi"/>
<dl_setting var="max_edge_found_macro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mac"/>
<dl_setting var="max_no_edge_found_confidence" min="0" step="1" max = "50" shortname="conf_no_edge"/>
<dl_setting var="heat_map_type" min="0" step="1" max = "11" shortname="heatmap"/>
<dl_setting var="save_images_flag" min="0" step="1" max="1" shortname="Save Images">
<strip_button name="Start image capture" icon="dcstart.png" value="1" group="cv"/>
<strip_button name="Stop image capture" icon="dcstop.png" value="0" group="cv"/>
</dl_setting>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="wedgebug.h"/>
</header>
<init fun="wedgebug_init()"/>
<periodic fun="wedgebug_periodic()" freq="7"/>
<makefile target="ap|nps">
<file name="wedgebug.c"/>
<file name="wedgebug_opencv.cpp"/>
<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include"/>
<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib"/>
<flag name="LDFLAGS" value="lopencv_world"/>
<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/share/OpenCV/3rdparty/lib"/>
<flag name="LDFLAGS" value="llibprotobuf"/>
<flag name="LDFLAGS" value="lquirc"/>
<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu"/>
<flag name="LDFLAGS" value="ljpeg"/>
<flag name="LDFLAGS" value="lpng"/>
<flag name="LDFLAGS" value="ltiff"/>
<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu/hdf5/serial"/>
<flag name="LDFLAGS" value="lhdf5"/>
<flag name="LDFLAGS" value="lpthread"/>
<flag name="LDFLAGS" value="lsz"/>
<flag name="LDFLAGS" value="lz"/>
<flag name="LDFLAGS" value="ldl"/>
<flag name="LDFLAGS" value="lm"/>
<flag name="LDFLAGS" value="lfreetype"/>
<flag name="LDFLAGS" value="lharfbuzz"/>
<flag name="LDFLAGS" value="lrt"/>
</makefile>
</module>