#include "modules/orange_avoider/orange_avoider.h"
#include "firmwares/rotorcraft/navigation.h"
#include "generated/airframe.h"
#include "state.h"
#include "subsystems/abi.h"
#include <time.h>
#include <stdio.h>
#include "generated/flight_plan.h"

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Macros
#define	NAV_C

#define	ORANGE_AVOIDER_VERBOSE TRUE

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

#define	VERBOSE_PRINT(...)

#define	ORANGE_AVOIDER_VISUAL_DETECTION_ID ABI_BROADCAST

Enumerations
enum	navigation_state_t { SAFE, OBSTACLE_FOUND, OUT_OF_BOUNDS, HOLD, SAFE, OBSTACLE_FOUND, SEARCH_FOR_SAFE_HEADING, OUT_OF_BOUNDS, SAFE, OBSTACLE_FOUND, SEARCH_FOR_SAFE_HEADING, OUT_OF_BOUNDS, REENTER_ARENA }

Functions
static uint8_t	moveWaypointForward (uint8_t waypoint, float distanceMeters)

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

static uint8_t	moveWaypoint (uint8_t waypoint, struct EnuCoor_i *new_coor)

static uint8_t	increase_nav_heading (float incrementDegrees)

static uint8_t	chooseRandomIncrementAvoidance (void)

static void	color_detection_cb (uint8_t sender_id, int16_t pixel_x, int16_t pixel_y, int16_t pixel_width, int16_t pixel_height, int32_t quality, int16_t extra)

void	orange_avoider_init (void)

void	orange_avoider_periodic (void)

Variables
float	oa_color_count_frac = 0.18f

enum navigation_state_t	navigation_state = SEARCH_FOR_SAFE_HEADING

int32_t	color_count = 0

int16_t	obstacle_free_confidence = 0

float	heading_increment = 5.f

float	maxDistance = 2.25

const int16_t	max_trajectory_confidence = 5

static abi_event	color_detection_ev

Detailed Description

Author: Roland Meertens Example on how to use the colours detected to avoid orange pole in the cyberzoo This module is an example module for the course AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft. This module is used in combination with a color filter (cv_detect_color_object) and the navigation mode of the autopilot. The avoidance strategy is to simply count the total number of orange pixels. When above a certain percentage threshold, (given by color_count_frac) we assume that there is an obstacle and we turn.

The color filter settings are set using the cv_detect_color_object. This module can run multiple filters simultaneously so you have to define which filter to use with the ORANGE_AVOIDER_VISUAL_DETECTION_ID setting.

Definition in file orange_avoider.c.

Macro Definition Documentation

◆ NAV_C

#define NAV_C

Definition at line 28 of file orange_avoider.c.

◆ ORANGE_AVOIDER_VERBOSE

#define ORANGE_AVOIDER_VERBOSE TRUE

Definition at line 31 of file orange_avoider.c.

◆ ORANGE_AVOIDER_VISUAL_DETECTION_ID

#define ORANGE_AVOIDER_VISUAL_DETECTION_ID ABI_BROADCAST

Definition at line 73 of file orange_avoider.c.

◆ PRINT

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

Definition at line 33 of file orange_avoider.c.

◆ VERBOSE_PRINT

#define VERBOSE_PRINT ( ... )

Definition at line 37 of file orange_avoider.c.

Enumeration Type Documentation

◆ navigation_state_t

enum navigation_state_t

Enumerator
SAFE
OBSTACLE_FOUND
OUT_OF_BOUNDS
HOLD
SAFE
OBSTACLE_FOUND
SEARCH_FOR_SAFE_HEADING
OUT_OF_BOUNDS
SAFE
OBSTACLE_FOUND
SEARCH_FOR_SAFE_HEADING
OUT_OF_BOUNDS
REENTER_ARENA

Definition at line 46 of file orange_avoider.c.

Function Documentation

◆ calculateForwards()

uint8_t calculateForwards	(	struct EnuCoor_i *	new_coor,
		float	distanceMeters
	)

static

Definition at line 209 of file orange_avoider.c.

References heading, POS_BFP_OF_REAL, POS_FLOAT_OF_BFP, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetPositionEnu_i(), VERBOSE_PRINT, EnuCoor_i::x, and EnuCoor_i::y.

Referenced by moveWaypointForward().

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◆ chooseRandomIncrementAvoidance()

uint8_t chooseRandomIncrementAvoidance ( void )

static

Definition at line 236 of file orange_avoider.c.

References heading_increment, and VERBOSE_PRINT.

Referenced by orange_avoider_init(), and orange_avoider_periodic().

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◆ color_detection_cb()

static void color_detection_cb	(	uint8_t	sender_id,
		int16_t	pixel_x,
		int16_t	pixel_y,
		int16_t	pixel_width,
		int16_t	pixel_height,
		int32_t	quality,
		int16_t	extra
	)