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Add MAVLink scripts for quadcopters
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usr/examples/18-MAVLink/mavlink_apriltags_landing_target.py
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159
usr/examples/18-MAVLink/mavlink_apriltags_landing_target.py
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# MAVLink AprilTags Landing Target Script.
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#
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# This script sends out AprilTag detections using the MAVLink protocol to
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# an ArduPilot/PixHawk controller for precision landing using your OpenMV Cam.
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#
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# P4 = TXD
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import image, math, pyb, sensor, struct, time
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# Parameters #################################################################
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uart_baudrate = 115200
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MAV_system_id = 1
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MAV_component_id = 0x54
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MAX_DISTANCE_SENSOR_enable = True
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lens_mm = 2.8 # Standard Lens.
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lens_to_camera_mm = 22 # Standard Lens.
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sensor_w_mm = 3.984 # For OV7725 sensor - see datasheet.
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sensor_h_mm = 2.952 # For OV7725 sensor - see datasheet.
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# Only tags with a tag ID in the dictionary below will be accepted by this
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# code. You may add as many tag IDs to the below dictionary as you want...
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# For each tag ID you need to provide then length of the black tag border
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# in mm. Any side of the tag black border square will work.
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valid_tag_ids = {
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0 : 165, # 8.5" x 11" tag black border size in mm
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1 : 165, # 8.5" x 11" tag black border size in mm
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2 : 165, # 8.5" x 11" tag black border size in mm
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}
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##############################################################################
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# Camera Setup
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sensor.reset()
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.QQVGA)
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sensor.skip_frames(60)
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x_res = 160 # QQVGA
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y_res = 120 # QQVGA
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f_x = (lens_mm / sensor_w_mm) * x_res
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f_y = (lens_mm / sensor_h_mm) * y_res
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c_x = x_res / 2
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c_y = y_res / 2
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h_fov = 2 * math.atan((sensor_w_mm / 2) / lens_mm)
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v_fov = 2 * math.atan((sensor_h_mm / 2) / lens_mm)
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def z_to_mm(z_translation, tag_size): # z_translation is in decimeters...
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return ((((-z_translation) * 100) * tag_size) / 165) - lens_to_camera_mm
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# Link Setup
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uart = pyb.UART(3, uart_baudrate, timeout_char = 1000)
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# Helper Stuff
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packet_sequence = 0
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def checksum(data, extra): # https://github.com/mavlink/c_library_v1/blob/master/checksum.h
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output = 0xFFFF
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for i in range(len(data)):
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tmp = data[i] ^ (output & 0xFF)
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tmp = (tmp ^ (tmp << 4)) & 0xFF
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output = ((output >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xFFFF
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tmp = extra ^ (output & 0xFF)
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tmp = (tmp ^ (tmp << 4)) & 0xFF
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output = ((output >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xFFFF
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return output
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MAV_DISTANCE_SENSOR_message_id = 132
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MAV_DISTANCE_SENSOR_min_distance = 1 # in cm
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MAV_DISTANCE_SENSOR_max_distance = 10000 # in cm
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MAV_DISTANCE_SENSOR_type = 0 # MAV_DISTANCE_SENSOR_LASER
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MAV_DISTANCE_SENSOR_id = 0 # unused
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MAV_DISTANCE_SENSOR_orientation = 25 # MAV_SENSOR_ROTATION_PITCH_270
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MAV_DISTANCE_SENSOR_covariance = 0 # unused
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MAV_DISTANCE_SENSOR_extra_crc = 85
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# http://mavlink.org/messages/common#DISTANCE_SENSOR
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# https://github.com/mavlink/c_library_v1/blob/master/common/mavlink_msg_distance_sensor.h
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def send_distance_sensor_packet(tag, tag_size):
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global packet_sequence
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temp = struct.pack("<lhhhbbbb",
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0,
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MAV_DISTANCE_SENSOR_min_distance,
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MAV_DISTANCE_SENSOR_max_distance,
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min(max(int(z_to_mm(tag.z_translation(), tag_size) / 10), MAV_DISTANCE_SENSOR_min_distance), MAV_DISTANCE_SENSOR_max_distance),
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MAV_DISTANCE_SENSOR_type,
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MAV_DISTANCE_SENSOR_id,
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MAV_DISTANCE_SENSOR_orientation,
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MAV_DISTANCE_SENSOR_covariance)
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temp = struct.pack("<bbbbb14s",
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14,
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packet_sequence & 0xFF,
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MAV_system_id,
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MAV_component_id,
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MAV_DISTANCE_SENSOR_message_id,
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temp)
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temp = struct.pack("<b19sh",
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0xFE,
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temp,
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checksum(temp, MAV_DISTANCE_SENSOR_extra_crc))
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packet_sequence += 1
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uart.write(temp)
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MAV_LANDING_TARGET_message_id = 149
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MAV_LANDING_TARGET_min_distance = 1/100 # in meters
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MAV_LANDING_TARGET_max_distance = 10000/100 # in meters
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MAV_LANDING_TARGET_frame = 8 # MAV_FRAME_BODY_NED
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MAV_LANDING_TARGET_extra_crc = 200
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# http://mavlink.org/messages/common#LANDING_TARGET
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# https://github.com/mavlink/c_library_v1/blob/master/common/mavlink_msg_landing_target.h
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def send_landing_target_packet(tag, w, h, tag_size):
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global packet_sequence
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temp = struct.pack("<qfffffbb",
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0,
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((tag.cx() / w) - 0.5) * h_fov,
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((tag.cy() / h) - 0.5) * v_fov,
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min(max(z_to_mm(tag.z_translation(), tag_size) / 1000, MAV_LANDING_TARGET_min_distance), MAV_LANDING_TARGET_max_distance),
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0.0,
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0.0,
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0,
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MAV_LANDING_TARGET_frame)
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temp = struct.pack("<bbbbb30s",
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30,
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packet_sequence & 0xFF,
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MAV_system_id,
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MAV_component_id,
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MAV_LANDING_TARGET_message_id,
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temp)
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temp = struct.pack("<b35sh",
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0xFE,
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temp,
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checksum(temp, MAV_LANDING_TARGET_extra_crc))
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packet_sequence += 1
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uart.write(temp)
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# Main Loop
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clock = time.clock()
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while(True):
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clock.tick()
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img = sensor.snapshot()
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tags = sorted(img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y), key = lambda x: x.w() * x.h(), reverse = True)
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if tags and (tags[0].id() in valid_tag_ids):
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if MAX_DISTANCE_SENSOR_enable: send_distance_sensor_packet(tags[0], valid_tag_ids[tags[0].id()])
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send_landing_target_packet(tags[0], img.width(), img.height(), valid_tag_ids[tags[0].id()])
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img.draw_rectangle(tags[0].rect())
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img.draw_cross(tags[0].cx(), tags[0].cy())
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print("Distance %f mm - FPS %f" % (z_to_mm(tags[0].z_translation(), valid_tag_ids[tags[0].id()]), clock.fps()))
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else:
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print("FPS %f" % clock.fps())
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91
usr/examples/18-MAVLink/mavlink_opticalflow.py
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91
usr/examples/18-MAVLink/mavlink_opticalflow.py
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@ -0,0 +1,91 @@
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# MAVLink OpticalFlow Script.
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#
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# This script sends out OpticalFlow detections using the MAVLink protocol to
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# an ArduPilot/PixHawk controller for position control using your OpenMV Cam.
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#
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# P4 = TXD
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import image, math, pyb, sensor, struct, time
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# Parameters #################################################################
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uart_baudrate = 115200
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MAV_system_id = 1
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MAV_component_id = 0x54
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MAV_OPTICAL_FLOW_confidence_threshold = 0.2
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##############################################################################
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# Camera Setup
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sensor.reset()
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.QQVGA)
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sensor.skip_frames(60)
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# Link Setup
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uart = pyb.UART(3, uart_baudrate, timeout_char = 1000)
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# Helper Stuff
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packet_sequence = 0
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def checksum(data, extra): # https://github.com/mavlink/c_library_v1/blob/master/checksum.h
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output = 0xFFFF
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for i in range(len(data)):
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tmp = data[i] ^ (output & 0xFF)
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tmp = (tmp ^ (tmp << 4)) & 0xFF
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output = ((output >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xFFFF
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tmp = extra ^ (output & 0xFF)
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tmp = (tmp ^ (tmp << 4)) & 0xFF
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output = ((output >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xFFFF
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return output
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MAV_OPTICAL_FLOW_message_id = 100
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MAV_OPTICAL_FLOW_id = 0 # unused
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MAV_OPTICAL_FLOW_extra_crc = 175
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# http://mavlink.org/messages/common#OPTICAL_FLOW
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# https://github.com/mavlink/c_library_v1/blob/master/common/mavlink_msg_optical_flow.h
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def send_optical_flow_packet(x, y, c):
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global packet_sequence
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temp = struct.pack("<qfffhhbb",
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0,
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0,
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0,
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0,
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int(x * 10 * 4), # up sample by 4
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int(y * 10 * 4), # up sample by 4
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MAV_OPTICAL_FLOW_id,
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int(c * 255))
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temp = struct.pack("<bbbbb26s",
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26,
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packet_sequence & 0xFF,
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MAV_system_id,
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MAV_component_id,
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MAV_OPTICAL_FLOW_message_id,
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temp)
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temp = struct.pack("<b31sh",
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0xFE,
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temp,
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checksum(temp, MAV_OPTICAL_FLOW_extra_crc))
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packet_sequence += 1
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uart.write(temp)
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# Main Loop
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clock = time.clock()
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old_img = sensor.snapshot().mean_pooled(4, 4) # 160x120 -> 40x30
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while(True):
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clock.tick()
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new_img = sensor.snapshot().mean_pooled(4, 4) # 160x120 -> 40x30
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x, y, c = new_img.find_displacement(old_img)
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old_img = new_img
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if (not (math.isnan(x) or math.isnan(y) or math.isnan(c))) and (c > MAV_OPTICAL_FLOW_confidence_threshold):
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send_optical_flow_packet(-x, -y, c)
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print("dx %10f, dy %10f, confidence %10f - FPS %f" % (-x, -y, c, clock.fps()))
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else:
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print("FPS %f" % (clock.fps()))
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