[opticflow] docs and settings

conf/modules/cv_opticflow.xml

@@ -2,16 +2,29 @@
 
 <module name="cv_opticflow" dir="computer_vision">
   <doc>
-    <description>Video ARDone 2</description>
+    <description>
+        Compute Optic Flow from Ardrone2 Bottom Camera
+
+        Computes Pitch- and rollrate corrected optic flow from downward looking
+        ARDrone2 camera looking at a textured floor.
+
+        - Sonar is required.
+        - Controller can hold position
+    </description>
 
     <define name="DOWNLINK_VIDEO" value="FALSE" description="Also stream video: warning: this makes the optic flow slow: DEBUGGING only" />
   </doc>
   <settings>
     <dl_settings>
-      <dl_settings name="video">
-        <dl_setting var="viewvideo_shot" min="0" step="1" max="1" shortname="save_shot" module="computer_vision/opticflow_module" handler="SaveShot"/>
-      </dl_settings>
-    </dl_settings>
+	<dl_settings NAME="Vision Loop">
+        <dl_setting var="activate_opticflow_hover" min="0" step="1" max="1" module="computervision/opticflow/hover_stabilization" shortname="hover" param="VISION_HOVER" values="FALSE|TRUE"/>
+        <dl_setting var="vision_phi_pgain" min="0" step="1" max="10000" shortname="kp_v_phi" param="VISION_PHI_PGAIN"/>
+        <dl_setting var="vision_phi_igain" min="0" step="1" max="1000" shortname="ki_v_phi" param="VISION_PHI_IGAIN"/>
+        <dl_setting var="vision_theta_pgain" min="0" step="1" max="10000" shortname="kp_v_theta" param="VISION_THETA_PGAIN"/>
+        <dl_setting var="vision_theta_igain" min="0" step="1" max="1000" shortname="ki_v_theta" param="VISION_THETA_IGAIN"/>
+        <dl_setting var="vision_desired_vx" min="-5" step="0.01" max="5" shortname="desired_vx" param="VISION_DESIRED_VX"/>
+        <dl_setting var="vision_desired_vy" min="-5" step="0.01" max="5" shortname="desired_vy" param="VISION_DESIRED_VY"/>
+    </dl_settings>    </dl_settings>
   </settings>
 
   <header>