orange_avoider.c File Reference

#include "modules/orange_avoider/orange_avoider.h"
#include "modules/computer_vision/colorfilter.h"
#include "firmwares/rotorcraft/navigation.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "state.h"
#include <time.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>

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Macros
#define	ORANGE_AVOIDER_VERBOSE   TRUE
#define	PRINT(string,...)   fprintf(stderr, "[orange_avoider->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)
#define	VERBOSE_PRINT(...)
#define	ORANGE_AVOIDER_LUM_MIN   41
#define	ORANGE_AVOIDER_LUM_MAX   183
#define	ORANGE_AVOIDER_CB_MIN   53
#define	ORANGE_AVOIDER_CB_MAX   121
#define	ORANGE_AVOIDER_CR_MIN   134
#define	ORANGE_AVOIDER_CR_MAX   249

Functions
void	orange_avoider_init ()
void	orange_avoider_periodic ()
uint8_t	increase_nav_heading (int32_t *heading, float incrementDegrees)
static uint8_t	calculateForwards (struct EnuCoor_i *new_coor, float distanceMeters)
uint8_t	moveWaypoint (uint8_t waypoint, struct EnuCoor_i *new_coor)
uint8_t	moveWaypointForward (uint8_t waypoint, float distanceMeters)
uint8_t	chooseRandomIncrementAvoidance ()

Variables
uint8_t	safeToGoForwards = false
int	tresholdColorCount = 0.05 * 124800
float	incrementForAvoidance
uint16_t	trajectoryConfidence = 1
float	maxDistance = 2.25

Detailed Description

Author

Roland Meertens Example on how to use the colours detected to avoid orange pole in the cyberzoo

Definition in file orange_avoider.c.

Macro Definition Documentation

#define ORANGE_AVOIDER_CB_MAX   121

Definition at line 47 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_CB_MIN   53

Definition at line 43 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_CR_MAX   249

Definition at line 55 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_CR_MIN   134

Definition at line 51 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_LUM_MAX   183

Definition at line 39 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_LUM_MIN   41

Definition at line 35 of file orange_avoider.c.

Referenced by orange_avoider_init().

#define ORANGE_AVOIDER_VERBOSE   TRUE

Definition at line 25 of file orange_avoider.c.

#define PRINT	(		string,
			...
	)		fprintf(stderr, "[orange_avoider->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

Definition at line 27 of file orange_avoider.c.

#define VERBOSE_PRINT

(

...

)

Definition at line 31 of file orange_avoider.c.

Referenced by calculateForwards(), chooseRandomIncrementAvoidance(), increase_nav_heading(), moveWaypoint(), and orange_avoider_periodic().

Function Documentation

static uint8_t calculateForwards ( struct EnuCoor_i *  new_coor, float  distanceMeters  )

static

Definition at line 128 of file orange_avoider.c.

References ANGLE_FLOAT_OF_BFP, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, Int32Eulers::psi, stateGetNedToBodyEulers_i(), stateGetPositionEnu_i(), VERBOSE_PRINT, EnuCoor_i::x, and EnuCoor_i::y.

Referenced by moveWaypointForward().

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uint8_t chooseRandomIncrementAvoidance

(

void

)

Definition at line 169 of file orange_avoider.c.

References incrementForAvoidance, and VERBOSE_PRINT.

Referenced by orange_avoider_init(), and orange_avoider_periodic().

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uint8_t increase_nav_heading	(	int32_t *	heading,
		float	incrementDegrees
	)

Definition at line 114 of file orange_avoider.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, INT32_ANGLE_NORMALIZE, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and VERBOSE_PRINT.

Referenced by orange_avoider_periodic().

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uint8_t moveWaypoint	(	uint8_t	waypoint,
		struct EnuCoor_i *	new_coor
	)

Definition at line 147 of file orange_avoider.c.

References POS_FLOAT_OF_BFP, VERBOSE_PRINT, waypoint_set_xy_i(), EnuCoor_i::x, and EnuCoor_i::y.

Referenced by moveWaypointForward().

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uint8_t moveWaypointForward	(	uint8_t	waypoint,
		float	distanceMeters
	)

Definition at line 158 of file orange_avoider.c.

References calculateForwards(), and moveWaypoint().

Referenced by orange_avoider_periodic().

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void orange_avoider_init

(

void

)

Definition at line 68 of file orange_avoider.c.

References chooseRandomIncrementAvoidance(), color_cb_max, color_cb_min, color_cr_max, color_cr_min, color_lum_max, color_lum_min, ORANGE_AVOIDER_CB_MAX, ORANGE_AVOIDER_CB_MIN, ORANGE_AVOIDER_CR_MAX, ORANGE_AVOIDER_CR_MIN, ORANGE_AVOIDER_LUM_MAX, and ORANGE_AVOIDER_LUM_MIN.

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void orange_avoider_periodic

(

void

)

Definition at line 85 of file orange_avoider.c.

References chooseRandomIncrementAvoidance(), color_count, increase_nav_heading(), incrementForAvoidance, maxDistance, moveWaypointForward(), nav_heading, nav_set_heading_towards_waypoint(), safeToGoForwards, trajectoryConfidence, tresholdColorCount, VERBOSE_PRINT, and waypoint_set_here_2d().

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Variable Documentation

float incrementForAvoidance

Definition at line 61 of file orange_avoider.c.

Referenced by chooseRandomIncrementAvoidance(), and orange_avoider_periodic().

float maxDistance = 2.25

Definition at line 63 of file orange_avoider.c.

Referenced by orange_avoider_periodic().

uint8_t safeToGoForwards = false

Definition at line 59 of file orange_avoider.c.

Referenced by orange_avoider_periodic().

uint16_t trajectoryConfidence = 1

Definition at line 62 of file orange_avoider.c.

Referenced by orange_avoider_periodic().

int tresholdColorCount = 0.05 * 124800

Definition at line 60 of file orange_avoider.c.

Referenced by orange_avoider_periodic().