optical-flow based hovering for Parrot AR.Drone 2.0 More...

#include "opticflow_module.h"
#include <stdio.h>
#include <pthread.h>
#include "state.h"
#include "subsystems/abi.h"
#include "lib/v4l/v4l2.h"
#include "lib/encoding/jpeg.h"
#include "lib/encoding/rtp.h"
#include "errno.h"
#include "cv.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	OPTICFLOW_AGL_ID ABI_BROADCAST
	Default sonar/agl to use in opticflow visual_estimator. More...

#define	OPTICFLOW_IMU_ID ABI_BROADCAST
	Default IMU (accelerometers) to use in opticflow visual_estimator. More...

#define	OPTICFLOW_BODY_TO_IMU_ID ABI_BROADCAST
	Default body to IMU to use in opticflow visual_estimator. More...

#define	OPTICFLOW_SEND_ABI_ID 1
	Default ID to send abi messages. More...

#define	OPTICFLOW_FPS 0
	Default FPS (zero means run at camera fps) More...

Functions
struct image_t *	opticflow_module_calc (struct image_t *img)
	The main optical flow calculation thread. More...

static void	opticflow_agl_cb (uint8_t sender_id, float distance)
	Callback function of the ground altitude. More...

static void	opticflow_imu_accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
	Callback function of the IMU's accelerometers. More...

static void	opticflow_body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
	Callback function of imu to body. More...

static void	opticflow_telem_send (struct transport_tx trans, struct link_device dev)
	Send optical flow telemetry information. More...

void	opticflow_module_init (void)
	Initialize the optical flow module for the bottom camera. More...

void	opticflow_module_run (void)
	Update the optical flow state for the calculation thread and update the stabilization loops with the newest result. More...

Variables
struct opticflow_t	opticflow
	Opticflow calculations. More...

static struct opticflow_result_t	opticflow_result
	The opticflow result. More...

static struct opticflow_state_t	opticflow_state
	State of the drone to communicate with the opticflow. More...

static abi_event	opticflow_imu_accel_ev
	The altitude ABI event. More...

static abi_event	opticflow_agl_ev
	The accelerometers ABI event. More...

static abi_event	opticflow_body_to_imu_ev
	The body-to-imu ABI event. More...

static bool	opticflow_got_result
	When we have an optical flow calculation. More...

static pthread_mutex_t	opticflow_mutex
	Mutex lock fo thread safety. More...

Detailed Description

optical-flow based hovering for Parrot AR.Drone 2.0

Sensors from vertical camera and IMU of Parrot AR.Drone 2.0

Definition in file opticflow_module.c.

Macro Definition Documentation

#define OPTICFLOW_AGL_ID ABI_BROADCAST

Default sonar/agl to use in opticflow visual_estimator.

Definition at line 45 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_BODY_TO_IMU_ID ABI_BROADCAST

Default body to IMU to use in opticflow visual_estimator.

Definition at line 55 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_FPS 0

Default FPS (zero means run at camera fps)

Definition at line 65 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_IMU_ID ABI_BROADCAST

Default IMU (accelerometers) to use in opticflow visual_estimator.

Definition at line 50 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_SEND_ABI_ID 1

Default ID to send abi messages.

Definition at line 60 of file opticflow_module.c.

Referenced by opticflow_module_run().

Function Documentation

static void opticflow_agl_cb	(	uint8_t	sender_id,
		float	distance
	)

static

Callback function of the ground altitude.

Get the altitude above ground of the drone.

Parameters

[in]	sender_id	The id that send the ABI message (unused)
[in]	distance	The distance above ground level in meters

Definition at line 209 of file opticflow_module.c.

Referenced by opticflow_module_init().

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static void opticflow_body_to_imu_cb	(	uint8_t	sender_id,
		struct FloatQuat *	q_b2i_f
	)

static

Callback function of imu to body.

Get the body-to-imu quaternion.

Parameters

[in]	sender_id	The id that send the ABI message (unused)
[in]	q_b2i_f	The body-to-imu quaternion

Definition at line 233 of file opticflow_module.c.

References float_quat_invert().

Referenced by opticflow_module_init().

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static void opticflow_imu_accel_cb	(	uint8_t	sender_id,
		uint32_t	stamp,
		struct Int32Vect3 *	accel
	)

static

Callback function of the IMU's accelerometers.

Get the accelerometer measurements of the imu.

Parameters

[in]	sender_id	The id that send the ABI message (unused)
[in]	stamp	The timestamp of when the message is send
[in]	accel	The accelerometer measurements of the imu

Definition at line 223 of file opticflow_module.c.

Referenced by opticflow_module_init().

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