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[paparazzi-commits] [paparazzi/paparazzi] 48e7b2: TU Delft MAVLab course


From: Tom van Dijk
Subject: [paparazzi-commits] [paparazzi/paparazzi] 48e7b2: TU Delft MAVLab course 2019 (#2452)
Date: Thu, 18 Jul 2019 04:14:36 -0700

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 48e7b207894625a3e7bf5b034d5c50832c9922fc
      
https://github.com/paparazzi/paparazzi/commit/48e7b207894625a3e7bf5b034d5c50832c9922fc
  Author: Tom van Dijk <address@hidden>
  Date:   2019-07-18 (Thu, 18 Jul 2019)

  Changed paths:
    M conf/abi.xml
    R conf/airframes/tudelft/bebop_course2018_orangeavoid.xml
    A conf/airframes/tudelft/bebop_course2019_orangeavoid.xml
    A conf/airframes/tudelft/bebop_course2019_orangeavoid_guided.xml
    R conf/flight_plans/tudelft/course2018_orangeavoid_cyberzoo.xml
    A conf/flight_plans/tudelft/course2019_orangeavoid_cyberzoo.xml
    A conf/flight_plans/tudelft/course2019_orangeavoid_cyberzoo_guided.xml
    A conf/joystick/sm600.xml
    A conf/joystick/turnigy_evolution.xml
    A conf/joystick/xbox_gamepad_yawontriggers.xml
    M conf/modules/cv_colorfilter.xml
    A conf/modules/cv_detect_color_object.xml
    M conf/modules/cv_opencvdemo.xml
    M conf/modules/logger_file.xml
    M conf/modules/orange_avoider.xml
    A conf/modules/orange_avoider_guided.xml
    M conf/modules/video_capture.xml
    R conf/userconf/tudelft/course2018_conf.xml
    R conf/userconf/tudelft/course2018_control_panel.xml
    A conf/userconf/tudelft/course2019_conf.xml
    A conf/userconf/tudelft/course2019_control_panel.xml
    M sw/airborne/modules/computer_vision/colorfilter.c
    M sw/airborne/modules/computer_vision/colorfilter.h
    A sw/airborne/modules/computer_vision/cv_detect_color_object.c
    A sw/airborne/modules/computer_vision/cv_detect_color_object.h
    M sw/airborne/modules/computer_vision/opencv_example.cpp
    M sw/airborne/modules/computer_vision/opencv_image_functions.cpp
    M sw/airborne/modules/computer_vision/opencv_image_functions.h
    M sw/airborne/modules/computer_vision/video_capture.c
    M sw/airborne/modules/computer_vision/video_capture.h
    M sw/airborne/modules/loggers/file_logger.c
    M sw/airborne/modules/orange_avoider/orange_avoider.c
    M sw/airborne/modules/orange_avoider/orange_avoider.h
    A sw/airborne/modules/orange_avoider/orange_avoider_guided.c
    A sw/airborne/modules/orange_avoider/orange_avoider_guided.h
    M sw/airborne/subsystems/abi_sender_ids.h
    M sw/airborne/subsystems/navigation/waypoints.c
    M sw/airborne/subsystems/navigation/waypoints.h
    M sw/ext/opencv_bebop
    M sw/ext/tudelft_gazebo_models
    A sw/tools/opti_dist/dist.py

  Log Message:
  -----------
  TU Delft MAVLab course 2019 (#2452)

* Add video capture functionality to video_capture module

The video_capture module can now capture timestamped image-sequences
using the buttons or setting in the GCS. Images are stamped using
their capture pprz_ts, which can be synchronized with the csv file
logger (todo).

(video_capture) Add video capture functionality to video_capture module

(video_capture) name images with current timestamp

(video_capture) Log capture timestamp instead of current time

(video_capture) Minor XML fixes

(video_capture) Store pprz_ts-stamped images in boot-time-stamped folder

Stamping images with calender time does not make sense in simulation,
which has an independent clock that runs at a different rate, and
does not have any concept of a calender time.

* Minor usability tweaks to file logger

* XML changes and new gazebo worlds after collecting datasets

Flight plan for orange pole dataset

Add flightplan to fly towards textured panel

XML changes after collecting dataset

Revert video capture and stream to front camera

* FIX datalink timeout in NPS

* minor fix: make colorfilter's color_count volatile

Shared between video thread and autopilot thread, so should technically
be volatile (although it seemed to work already).

* updated orange avoider to module state machine and added simple guided mode 
example (#46)

* updated orange avoider to module state machine and added simple guided mode 
example

* Apply suggestions from code review

Co-Authored-By: kirkscheper <address@hidden>

* add mutex and update guided to return to arena

* Minor fix: increase freq of WP_MOVED telemetry message

This makes the waypoint-based orange avoider example easier to
follow.

* minor readability tweak for file logger

* Enable video_capture by default, place before object detector

* Fix OpenCV inconsistencies in NPS, update to 3.4.5 (#47)

With this fix, the opencv example module will link the OpenCV lib from the 
bebop_opencv submodule rather than the locally installed one. This prevents 
inconsistent behavior between the real drone and the simulator; previously a 
bug in OpenCV caused U and V channels to be swapped depending on the installed 
version. The Bebop and sim now both use OpenCV 3.4.5.

Commits:

* FIX color loop error

Not exactly sure what went wrong, but this code works on both sim
and bebop without segfaulting. Note that the YUV channel order problem
still exists in this commit.

* YUV test function

* WIP SEGFAULT Try to upgrade opencv_bebop

This commit segfaults on the Bebop, caused by OpenCV's cvtColor
function (confirmed with printf and gdb). Might be caused by this:
https://github.com/opencv/opencv/issues/12176 .

* WIP Update opencv_bebop

* WIP get compilation working for nps

* WIP Clean up makefile, update conf LDFLAGS

* Restructure opencv_bebop makefile

Also update pprz because paths and ldflags have changed.

* Minor opencv_bebop makefile changes

* Fix YUV channel order

* FIX Consistent OpenCV behavior on drone and in NPS, OpenCV 3.4.5

With this fix, the opencv example module will link the OpenCV lib
from the bebop_opencv submodule rather than the locally installed one.
This prevents inconsistent behavior between the real drone and the simulator;
previously a bug in OpenCV caused U and V channels to be swapped depending
on the installed version. The Bebop and sim now both use OpenCV 3.4.5.

* update opencv_bebop

* Remove opencv demo module from course airframe

* Separate grayscale and color examples

* Add joystick xml for SM600

Joystick should be set in Reflex XTR mode. Tested on Ubuntu 16,
but not on 18 yet.

* Change sm600.xml to G3-G4.5 axis order

Reflex mode behaves differently between Ubuntu 16 and 18... :/

* Add OptiTrack distance measuring tool

Usage:
1. Connect through ethernet to OptiTrack pc.
2. In dist.py, change id number (line 19) to rigid body id to track.
3. Run dist.py
4. Results are not saved, copy manually.

dist.py was written by Shushuai Li.

* Made find_object_centroid documentation more comprehensive (#50)

* GPS coordinates of CyberZoo (#51)

* GPS coordinates of CyberZoo

Update GPS coordinates of the CyberZoo along the green carpet

* Update conf/flight_plans/tudelft/course2019_orangeavoid_cyberzoo.xml

* Update conf/flight_plans/tudelft/course2019_orangeavoid_cyberzoo.xml

* Fixed capitalisation in xbox controlled and added Turnigy controller (#52)

* Fixed capitalisation in xbox controlled and added Turnigy controller

 - Fixed capitalisation in conf/joystick/xbox_gamepad.xml

 - Added Turnigy controller conf/joystick/turnigy_evolution.xml

* Added a newbie friendly version of xbox_gamepad

The xbox controller both sticks have springs in both axis
and in the configuration of the xbox_gamepad.xml the yaw and throttle are on 
the same axis.
This configuration has the yaw on the triggers making for a more pleasant 
experience.

* FIX missing #endif in abi_sender_ids.h

* Update airframes to use bebop_cam module

TODO: retune, test and tag in cyberzoo

* Update opencv_bebop submodule to latest master

Also updated linked libraries in cv_opencvdemo module. Should
be re-tested on a clean system.

* Further cleanup for pull request

* Change sm600.xml throttle range

Throttle did not seem to behave correctly. Calibration only makes
things worse (incorrect ranges and lots of noise). The current xml
seems to work with an UNcalibrated joystick, with the trim sliders
in the middle (including throttle).

* Change default joystick to sm600.xml

* Revert sm600.xml range

* Re-tune camera

Camera settings were changed after bebop camera overhaul.

* Further tuning of green detector

* Tag aircraft after test flights

* FIX 'land here' incorrect capitalization

Changed back to lower case to maintain compatibility with other
flight plans that may not have been merged into master.

* FIX reduce WP_MOVED update rate

Avoidance code used waypoint_set_ functions instead of wp_move_,
which lacks the downlink message to update the wp position in the
GCS. Implemented the missing move functions and used these instead,
reduced the update rate of WP_MOVED to its original, low rate.

* FIX file_logger error message referring to video_capture

* FIX file_logger for fixed wing ac

* FIX sm600.xml missing newline

* WIP Cleanup opti_dist





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