From 89efdef174eb4138b908eb48f3ee425774180364 Mon Sep 17 00:00:00 2001 From: Christophe De Wagter Date: Tue, 15 Sep 2015 23:59:22 +0200 Subject: [PATCH] [conf] CDW --- conf/airframes/CDW/bebop.xml | 3 --- conf/airframes/CDW/conf.xml | 4 ++-- sw/airborne/modules/computer_vision/cv_georeference.c | 4 ++++ 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml index 490a329f8a8..13deb3c28f0 100644 --- a/conf/airframes/CDW/bebop.xml +++ b/conf/airframes/CDW/bebop.xml @@ -24,9 +24,6 @@ - - - diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml index 25e2144bc1d..d8fcccb3c8a 100644 --- a/conf/airframes/CDW/conf.xml +++ b/conf/airframes/CDW/conf.xml @@ -16,8 +16,8 @@ airframe="airframes/CDW/bebop.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/Tudelft/rotorcraft_survey_aubel.xml" - settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" + flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" /> diff --git a/sw/airborne/modules/computer_vision/cv_georeference.c b/sw/airborne/modules/computer_vision/cv_georeference.c index 35f2cd34825..f6d2f35bf29 100644 --- a/sw/airborne/modules/computer_vision/cv_georeference.c +++ b/sw/airborne/modules/computer_vision/cv_georeference.c @@ -106,6 +106,10 @@ void georeference_project(struct camera_frame_t *tar, int wp) if (wp > 0) { waypoint_set_xy_i(wp, geo.x_t.y, geo.x_t.x); waypoint_set_alt_i(wp, geo.x_t.z); + +// DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp, &(geo.x_t->x), +// &(geo.x_t->y), &(geo.x_t->z)); + } }