[paparazzi-commits] [paparazzi/paparazzi] 2a1ce1: [modules] add optical_flow_landing

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 2a1ce1a0ec5258397bdc3bc41de6f2d5b888517a
      
https://github.com/paparazzi/paparazzi/commit/2a1ce1a0ec5258397bdc3bc41de6f2d5b888517a
  Author: guidoAI <address@hidden>
  Date:   2016-04-23 (Sat, 23 Apr 2016)

  Changed paths:
    M conf/abi.xml
    A conf/airframes/TUDELFT/tudelft_guido_ardrone2_optitrack.xml
    A conf/airframes/TUDELFT/tudelft_guido_conf.xml
    A conf/airframes/TUDELFT/tudelft_guido_control_panel.xml
    A conf/flight_plans/rotorcraft_guido_optitrack.xml
    A conf/modules/optical_flow_landing.xml
    M sw/airborne/modules/computer_vision/opticflow_module.c
    A sw/airborne/modules/ctrl/optical_flow_landing.c
    A sw/airborne/modules/ctrl/optical_flow_landing.h
    M sw/ext/pprzlink

  Log Message:
  -----------
  [modules] add optical_flow_landing

I added an optical flow landing module for rotorcrafts.
It uses the size divergence from the optical flow algorithm to keep a constant 
divergence
(if set negative the drone will land, 0 = hover, and positive is going up).
Advantage with respect to a GPS landing is that it will take into account the 
landing surface,
even if it is higher than the ground level (so landing on a roof for instance).
The module does not use sonar for the vertical control, so it can be used by 
tiny drones that do not carry sonar.
The module uses a novel theory on seeing distances with just a single camera 
(no extra sensors) to detect when it should land.
So it can also be used by drones to estimate distance with a single camera.

closes #1611