Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation

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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">
   <configure name="STEREO_UART" value="UARTX" />
 </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

Raw stereocam_nav_line_avoid.xml file:

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