Added optical flow landing module #1611
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Added / modified xmls necessary for optical flow landing Adding comments, changing names to make more sense. In principle all name changes, comments, etc. performed Everything compiles again changed module name fixed code style
| <file name="optical_flow_landing.h"/> | ||
| </header> | ||
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| <makefile> |
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probably only for target="ap" or target="!sim"?
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Do you really need a conf with all those airframes? |
| <description> | ||
| Optical flow landing. | ||
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| This module implements optical flow landings in which the divergence is kept constant. When using a fixed gain for control, the covariance between thrust and divergence is tracked, so that the drone knows when it has arrived close to the landing surface. Then, a final landing procedure is triggered. It can also be set to adaptive gain control, where the goal is to continuously gauge the distance to the landing surface. In this mode, the drone will oscillate all the way down to the surface. |
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Would probably be good to mention here that this is for rotorcrafts/multicopters and not fixedwings?
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All requested changes made, and did a pull request for the new message. |
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I added an optical flow landing module. 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.