Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
stereocam.c File Reference

interface to TU Delft serial stereocam Include stereocam.xml to your airframe file. Parameters STEREO_PORT, STEREO_BAUD, SEND_STEREO should be configured with stereocam.xml. More...

#include "modules/stereocam/stereocam.h"
#include "mcu_periph/uart.h"
#include "modules/datalink/telemetry.h"
#include "pprzlink/messages.h"
#include "pprzlink/intermcu_msg.h"
#include "mcu_periph/sys_time.h"
#include "modules/core/abi.h"
#include "stereocam_follow_me/follow_me.h"
#include "filters/median_filter.h"
+ Include dependency graph for stereocam.c:

Go to the source code of this file.

Macros

#define FORWARD_IMAGE_DATA   FALSE
 
#define STEREO_BODY_TO_STEREO_PHI   0
 
#define STEREO_BODY_TO_STEREO_THETA   0
 
#define STEREO_BODY_TO_STEREO_PSI   0
 
#define STEREOCAM_USE_MEDIAN_FILTER   0
 

Functions

void stereocam_init (void)
 
static void stereocam_parse_msg (void)
 
void stereocam_event (void)
 
void state2stereocam (void)
 

Variables

struct stereocam_t stereocam
 
static uint8_t stereocam_msg_buf [256]
 The message buffer for the stereocamera. More...
 
struct MedianFilter3Float medianfilter
 

Detailed Description

interface to TU Delft serial stereocam Include stereocam.xml to your airframe file. Parameters STEREO_PORT, STEREO_BAUD, SEND_STEREO should be configured with stereocam.xml.

Definition in file stereocam.c.

Macro Definition Documentation

◆ FORWARD_IMAGE_DATA

#define FORWARD_IMAGE_DATA   FALSE

Definition at line 44 of file stereocam.c.

◆ STEREO_BODY_TO_STEREO_PHI

#define STEREO_BODY_TO_STEREO_PHI   0

Definition at line 71 of file stereocam.c.

◆ STEREO_BODY_TO_STEREO_PSI

#define STEREO_BODY_TO_STEREO_PSI   0

Definition at line 79 of file stereocam.c.

◆ STEREO_BODY_TO_STEREO_THETA

#define STEREO_BODY_TO_STEREO_THETA   0

Definition at line 75 of file stereocam.c.

◆ STEREOCAM_USE_MEDIAN_FILTER

#define STEREOCAM_USE_MEDIAN_FILTER   0

Definition at line 89 of file stereocam.c.

Function Documentation

◆ state2stereocam()

void state2stereocam ( void  )

Definition at line 216 of file stereocam.c.

References stereocam_t::body_to_cam, cam_angles(), stereocam_t::device, float_rmat_mult(), stateGetNedToBodyEulers_f(), stereocam, and stereocam_t::transport.

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◆ stereocam_event()

void stereocam_event ( void  )

Definition at line 202 of file stereocam.c.

References stereocam_t::device, stereocam_t::msg_available, stereocam, stereocam_msg_buf, stereocam_parse_msg(), and stereocam_t::transport.

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◆ stereocam_init()

◆ stereocam_parse_msg()

static void stereocam_parse_msg ( void  )
static

Variable Documentation

◆ medianfilter

struct MedianFilter3Float medianfilter

Definition at line 93 of file stereocam.c.

Referenced by stereocam_init(), and stereocam_parse_msg().

◆ stereocam

struct stereocam_t stereocam
Initial value:
= {
.device = (&((UART_LINK).device)),
.msg_available = false
}

Definition at line 82 of file stereocam.c.

Referenced by state2stereocam(), stereocam_event(), stereocam_init(), and stereocam_parse_msg().

◆ stereocam_msg_buf

uint8_t stereocam_msg_buf[256]
static

The message buffer for the stereocamera.

Definition at line 86 of file stereocam.c.

Referenced by stereocam_event(), and stereocam_parse_msg().