Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation

Module XML file: stereocam_nav_line_avoid.xml

No detailed description...

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

1 <modules>
2  <load name="stereocam_nav_line_avoid.xml">
3  <configure name="STEREO_UART" value="UARTX" />
4  </load>
5 </modules>

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.

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.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw stereocam_nav_line_avoid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="stereoavoid" dir="stereocam">
<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)"/>
<file name="nav_line_avoid/stereo_avoid.h"/>
<init fun="stereo_avoid_init()"/>
<periodic fun="stereo_avoid_run()" freq="20" autorun="TRUE"/>
STEREO_UART_LOWER=$(shell echo $(STEREO_UART) | tr A-Z a-z)
<define name="USE_$(STEREO_UART)"/>
<define name="STEREO_UART" value="$(STEREO_UART_LOWER)"/>
<define name="$(STEREO_UART)_BAUD" value="$(STEREO_BAUD)"/>
<file name="nav_line_avoid/avoid_navigation.c"/>
<makefile target="ap">
<file name="nav_line_avoid/stereo_avoid.c"/>
<makefile target="nps">
<file name="nav_line_avoid/stereo_avoid_sim.c"/>