Tag detection ported to SDK2 values. Tag detection tested and working. The oriented roundel and new v2 2D tags are default. The orientation is buggy.

src/ardrone_driver.cpp

@@ -80,7 +80,6 @@ void ARDroneDriver::run()
 				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (detections_select_v_hsync, &detect_disable_placeholder, NULL);
 				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (detections_select_h, &detect_hori_type, NULL);
 				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (enemy_colors, &detect_enemy_color, NULL );
-//				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (groundstripe_colors, &detect_groundstripes_color, NULL);
 				ARDRONE_TOOL_CONFIGURATION_ADDEVENT (enemy_without_shell, &detect_indoor_hull, NULL);
 			}
 		}

src/ardrone_sdk.cpp

@@ -8,14 +8,7 @@ navdata_vision_detect_t navdata_detect;
 
 navdata_time_t arnavtime;
 
-extern "C" {
-    //USE PROTO_ for defining if needed
-//    DEFINE_THREAD_ROUTINE(mani , data)
-//    {
-//        while (1) {printf("Hey ...\n");}
-//        return 0;
-//    }
-    
+extern "C" { 
 	C_RESULT ardrone_tool_init_custom(void) {
         int _w, _h;
         

src/teleop_twist.cpp

@@ -10,12 +10,12 @@ geometry_msgs::Twist cmd_vel;
 int cam_state = DEFAULT_CAM_STATE; // 0 for forward and 1 for vertical, change to enum later
 int set_navdata_demo_value = DEFAULT_NAVDATA_DEMO; 
 int32_t detect_enemy_color = ARDRONE_DETECTION_COLOR_ORANGE_YELLOW;
-int32_t detect_groundstripes_color = ARDRONE_DETECTION_COLOR_ORANGE_BLUE;
 int32_t detect_dtype = CAD_TYPE_MULTIPLE_DETECTION_MODE;
-int32_t detect_hori_type = TAG_TYPE_MASK(TAG_TYPE_SHELL_TAG);
-int32_t detect_vert_type = TAG_TYPE_MASK(TAG_TYPE_ROUNDEL);
+int32_t detect_hori_type = TAG_TYPE_MASK(TAG_TYPE_SHELL_TAG_V2);
+int32_t detect_vert_type = TAG_TYPE_MASK(TAG_TYPE_BLACK_ROUNDEL);
 int32_t detect_indoor_hull = 0;
 int32_t detect_disable_placeholder = 0;
+int32_t detect_enable_placeholder = 1;
 
 bool toggleNavdataDemoCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
 {

src/teleop_twist.h

@@ -33,6 +33,8 @@ extern int32_t detect_dtype;
 extern int32_t detect_hori_type;
 extern int32_t detect_vert_type;
 extern int32_t detect_disable_placeholder;
+extern int32_t detect_enable_placeholder;
+
 
 #endif