diff --git a/PULL_REQUEST_README.md b/PULL_REQUEST_README.md
new file mode 100644
index 00000000000..03a99ff9552
--- /dev/null
+++ b/PULL_REQUEST_README.md
@@ -0,0 +1,116 @@
+# Pull Request Description - Group 9 MAVLab Gate CNN Integration
+
+## Summary
+
+This pull request integrates a lightweight CNN-based gate detector for TU Delft MAVLab gates into Paparazzi and connects it to an initial navigation module for Bebop-based experiments.
+
+The detector is implemented as a Paparazzi computer-vision module and runs fully onboard in C, without relying on external machine-learning libraries during inference. The network was trained offline on images of MAVLab gates from TU Delft, then validated and tested before deployment. The trained weights were embedded directly in the source tree so that onboard computation is limited to image preprocessing and forward inference.
+
+In addition to the detector, this pull request wires the module into a dedicated custom airframe and a course configuration entry, and it connects the detector output to `custom_avoider`, which acts as an initial gate-oriented navigation concept. That navigation module is intentionally a first integration step and still requires further refinement, tuning, and validation before being considered a robust autonomous solution.
+
+## Why this is valuable
+
+- It adds a self-contained example of embedded CNN inference inside Paparazzi for a real MAVLab use case.
+- It demonstrates how trained neural-network weights can be integrated directly into an onboard module without external runtime dependencies.
+- It provides a practical bridge between perception and guidance by showing how `VISUAL_DETECTION` can drive a custom navigation behavior.
+- It can be used as a standalone gate-detection demo even if the navigation part is later replaced or improved.
+
+## How it works
+
+1. The Bebop front camera and video pipeline provide image frames to the Paparazzi computer-vision stack.
+2. `gate_cnn_detector` preprocesses the incoming frame, reduces it to the expected CNN input size, and evaluates the embedded network in pure C.
+3. The detector produces a gate prediction and publishes it through the standard `VISUAL_DETECTION` ABI message.
+4. `custom_avoider` subscribes to those messages and performs a simple gate-oriented behavior: search, align, fly forward, then briefly continue blind when the gate estimate is stable enough.
+
+The key architectural point is that training is done offline, while onboard runtime is just deterministic preprocessing plus inference.
+
+## Files changed in this contribution
+
+Core XML and configuration changes:
+
+- `conf/airframes/tudelft/custom_airframe.xml`
+- `conf/modules/gate_cnn_detector.xml`
+- `README.md`
+
+Core source changes for the feature:
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.c`
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h`
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c`
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h`
+- `sw/airborne/modules/custom_avoider/custom_avoider.c`
+
+If kept in the final PR, there is also cleanup of an older duplicate module definition:
+
+- `conf/modules/custom_gate_detector.xml`
+
+## Relevant XML files and their role
+
+- `conf/userconf/tudelft/course_conf.xml`
+ Registers the `bebop_custom_avoid` aircraft entry that selects the custom airframe from Paparazzi Center.
+
+- `conf/airframes/tudelft/custom_airframe.xml`
+ Main airframe wiring for the Bebop setup. It enables camera capture, the CNN gate detector, the initial navigation module, and the related video/telemetry pipeline.
+
+- `conf/modules/gate_cnn_detector.xml`
+ Module definition for the CNN detector. This file is important because it defines the module directory, headers, sources, and runtime hooks. The correct module directory must point to `computer_vision/gate_cnn_detector`.
+
+- `conf/modules/custom_avoider.xml`
+ Module definition for the navigation module. This module depends on `gate_cnn_detector` and consumes `VISUAL_DETECTION` messages.
+
+- `conf/modules/custom_gate_detector.xml`
+ Older duplicate or alternate module definition. If this file remains in the branch, it should be clearly treated as legacy or removed to avoid confusion with `gate_cnn_detector.xml`.
+
+## Important source files and their role
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.c`
+ Main prediction implementation. Handles frame preprocessing, forward inference, postprocessing, and ABI publication.
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h`
+ Public interface for the detector and the prediction structure used internally by the module.
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c`
+ Embedded trained weights for the gate detector network.
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h`
+ External declarations for the embedded weights arrays.
+
+- `sw/airborne/modules/custom_avoider/custom_avoider.c`
+ Initial navigation module that consumes the detector output. It demonstrates how the detector can be used in a closed loop, but it should be regarded as an initial concept rather than a finished controller.
+
+## Integration and standalone demo usage
+
+To integrate and run this feature inside Paparazzi:
+
+1. Ensure the aircraft entry `bebop_custom_avoid` is available through `conf/userconf/tudelft/course_conf.xml`.
+2. In Paparazzi Center, select the `bebop_custom_avoid` aircraft.
+3. Use the airframe `conf/airframes/tudelft/custom_airframe.xml`.
+4. Build the `ap` target for onboard use on the Bebop platform.
+
+For a standalone gate-detection demo, the essential chain is:
+
+- Bebop camera
+- `video_capture`
+- `gate_cnn_detector`
+- telemetry or logging of `VISUAL_DETECTION`
+
+`custom_avoider` is not required to demonstrate gate detection itself. It is included to show how the detector can already be connected to a first navigation behavior.
+
+## Build notes
+
+- `ap` is the main path for the onboard demo.
+- The current `nps` target in `custom_airframe.xml` uses `fdm type="gazebo"`, so Gazebo development headers and libraries are required if `nps` is built.
+- If Gazebo is not installed, the detector and integration can still be demonstrated on the `ap` target, or the `nps` FDM configuration can be changed separately.
+
+## Known limitations
+
+- The detector is the mature part of this contribution relative to the navigation layer.
+- `custom_avoider` is intentionally an initial idea for making the detector usable in a closed-loop demo and needs further refinement, tuning, and testing.
+- The navigation logic should not yet be presented as a final autonomous gate-navigation solution.
+
+## Suggested reviewer focus
+
+- Confirm the module integration path in `conf/modules/gate_cnn_detector.xml`.
+- Review whether the airframe wiring in `conf/airframes/tudelft/custom_airframe.xml` is the right integration point for the Bebop demo.
+- Verify the detector-to-navigation ABI contract through `VISUAL_DETECTION`.
+- Check whether legacy duplicate module definitions should remain in the branch.
\ No newline at end of file
diff --git a/README.md b/README.md
index bdbb8a1fd46..b0bd395eaca 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,66 @@
+# MAV 2026 Group 9 - CNN-Based MAVLab Gate Detection and Initial Navigation Integration on Paparazzi
+
+This repository contains the implementation developed by **Group 9** for the **TU Delft Autonomous Flight of MAV course (AE4317 / MAVLab 2026)**.
+The project extends **Paparazzi UAS** with an onboard gate detection pipeline based on a small CNN trained offline on images of TU Delft MAVLab gates, plus an initial navigation module that reacts to the detector output.
+
+## Contributors
+
+**Group:** 9
+**Submission date:** 31/03/2026
+
+| Name | NetID | Student Number |
+|-------------------|-------------|----------------|
+| M. Sanz Piña | msanzpina | 6557368 |
+| Tommaso Calzolari | tcalzolari | 6430600 |
+| Leonardo Pedretti | lpedretti | 6432891 |
+| D. Townsend | dtownsed | 6315577 |
+| E. Bester | ebester | 6534899 |
+| H. Kovács | hkovacs | 6549608 |
+
+---
+
+## PULL REQUEST
+For pull request description look at PULL_REQUEST_README.md file.
+
+## Project overview
+
+This project implements a Bebop-based gate detection and gate-oriented navigation pipeline inside Paparazzi.
+The system is centered around two custom modules:
+
+- `gate_cnn_detector`, the computer vision module that receives images from the front camera, preprocesses them onboard, and runs a lightweight CNN inference pass fully in C
+- `custom_avoider`, the navigation module that subscribes to `VISUAL_DETECTION` messages, searches for the gate, aligns the vehicle laterally, and then commits to a simple forward pass-through behavior
+
+The CNN itself is not trained onboard. It was trained offline on images of MAVLab gates from TU Delft, then validated and tested outside the flight stack. The resulting trained weights were embedded directly in the Paparazzi module, so runtime execution only consists of image preprocessing and a forward pass through the network. This avoids external machine-learning libraries in the onboard path and keeps the detector lightweight and efficient.
+
+The detector publishes its output through the standard `VISUAL_DETECTION` ABI message. `custom_avoider` consumes that message stream and uses the gate center together with fresh/no-detection semantics to decide whether to keep searching, align horizontally, move toward the gate, or continue a short blind pass-through. This navigation logic is intentionally an initial integration concept for demonstrating closed-loop use of the CNN detector. It is useful as a starting point, but it still needs further refinement and flight tuning before it should be treated as a robust autonomous gate navigation solution.
+
+## Relevant files
+
+Relevant XML integration files:
+
+- `conf/userconf/tudelft/course_conf.xml`: registers the `bebop_custom_avoid` aircraft entry used from Paparazzi Center
+- `conf/airframes/tudelft/custom_airframe.xml`: airframe wiring for the Bebop platform, camera modules, `gate_cnn_detector`, and `custom_avoider`
+- `conf/modules/gate_cnn_detector.xml`: module definition for the CNN gate detector
+- `conf/modules/custom_avoider.xml`: module definition for the navigation module that consumes `VISUAL_DETECTION`
+
+Relevant source files:
+
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.c`: CNN inference, image preprocessing, prediction packaging, and message publication
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h`: detector interface and prediction structure
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c`: embedded trained CNN weights
+- `sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h`: declarations for the embedded weights
+- `sw/airborne/modules/custom_avoider/custom_avoider.c`: initial gate-oriented navigation logic built on top of detector output
+
+## How it works
+
+1. `video_capture` and the Bebop camera stack provide frames from the front camera.
+2. `gate_cnn_detector` receives the image in the Paparazzi computer-vision pipeline, rescales it internally to the CNN input size, and runs a forward pass using embedded weights.
+3. The detector converts the prediction into a `VISUAL_DETECTION` message containing gate presence, image coordinates, bounding-box values, confidence semantics, and image-width metadata.
+4. `custom_avoider` subscribes to those messages and uses them to search for the gate, align the vehicle with the gate center, move forward, and perform a short blind continuation once the detection remains stable long enough.
+
+This structure makes the detector usable as a standalone vision demo as well as part of a simple perception-to-navigation loop.
+
+
# MAIN README
Paparazzi UAS
diff --git a/conf/airframes/tudelft/custom_airframe.xml b/conf/airframes/tudelft/custom_airframe.xml
new file mode 100644
index 00000000000..83df0954bf6
--- /dev/null
+++ b/conf/airframes/tudelft/custom_airframe.xml
@@ -0,0 +1,268 @@
+
+
+
+
+
+ MAVLAB Course TUDelft 2023
+
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\ No newline at end of file
diff --git a/conf/modules/custom_avoider.xml b/conf/modules/custom_avoider.xml
new file mode 100644
index 00000000000..99618b0721c
--- /dev/null
+++ b/conf/modules/custom_avoider.xml
@@ -0,0 +1,34 @@
+
+
+
+
+
+This module is an example module for the course AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.
+This module is used in combination with the custom_detect_color_object module and the navigation mode of the autopilot.
+The avoidance strategy is based on the CUSTOM_DETECTION ABI message, which contains three binary obstacle indicators
+for the left, middle, and right image regions.
+
+The detector publishes the VISUAL_DETECTION message, and this module receives it using the
+GATE_FUSION_VISUAL_DETECTION_ID setting.
+
+
+
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+
+
+ gate_cnn_detector
+
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\ No newline at end of file
diff --git a/conf/modules/gate_cnn_detector.xml b/conf/modules/gate_cnn_detector.xml
new file mode 100644
index 00000000000..3e99f62359c
--- /dev/null
+++ b/conf/modules/gate_cnn_detector.xml
@@ -0,0 +1,54 @@
+
+
+
+
+
+
+ Detects a gate from the camera image using a tiny CNN.
+
+ The image is received in YUV422 format from the Paparazzi video pipeline.
+ The detector uses the raw UYVY buffer directly, resizes internally to 48x12,
+ runs the CNN, and publishes a VISUAL_DETECTION ABI message with:
+ pixel_x, pixel_y, pixel_width, pixel_height, quality, extra.
+
+ The CNN weights are compiled into the module through gate_cnn_weights.c.
+
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+ video_thread
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\ No newline at end of file
diff --git a/conf/userconf/tudelft/course_conf.xml b/conf/userconf/tudelft/course_conf.xml
index 8bf525d173d..041ace41273 100644
--- a/conf/userconf/tudelft/course_conf.xml
+++ b/conf/userconf/tudelft/course_conf.xml
@@ -2,7 +2,7 @@
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#ifndef GATE_CNN_DETECTOR_CAMERA
+#error "Define GATE_CNN_DETECTOR_CAMERA in the airframe/module settings"
+#endif
+
+#ifndef GATE_CNN_DETECTOR_FPS
+#define GATE_CNN_DETECTOR_FPS 0
+#endif
+
+#ifndef GATE_CNN_VISUAL_DETECTION_ID
+#define GATE_CNN_VISUAL_DETECTION_ID 1
+#endif
+
+#define C1 8
+#define C2 16
+#define C3 24
+
+#ifndef GATE_CNN_DEBUG
+#define GATE_CNN_DEBUG true
+#endif
+
+#ifndef GATE_CNN_DEBUG_EVERY_N_FRAMES
+#define GATE_CNN_DEBUG_EVERY_N_FRAMES 5
+#endif
+
+/* --------------------------------------------------------- */
+/* Shared detector result */
+/* --------------------------------------------------------- */
+
+static pthread_mutex_t gate_cnn_mutex;
+static gate_prediction_t g_pred;
+static struct video_listener *gate_cnn_listener;
+
+static uint32_t g_frame_counter = 0u;
+static float g_last_inference_ms = 0.0f;
+
+/*
+ * Latest image geometry seen by the detector callback.
+ * These are sent to nav together with the prediction so nav can compute
+ * image center dynamically instead of assuming a fixed value.
+ */
+static int16_t g_last_img_w = 0;
+static int16_t g_last_img_h = 0;
+
+#if GATE_CNN_DEBUG
+#define GATE_CNN_PRINT(...) printf(__VA_ARGS__)
+#else
+#define GATE_CNN_PRINT(...) do { } while (0)
+#endif
+
+static inline double gate_cnn_now_ms(void)
+{
+ struct timespec ts;
+ clock_gettime(CLOCK_MONOTONIC, &ts);
+ return (double)ts.tv_sec * 1000.0 + (double)ts.tv_nsec / 1000000.0;
+}
+
+/* --------------------------------------------------------- */
+/* Scratch buffers: fixed-size, no malloc (no dynamic memory) */
+/* --------------------------------------------------------- */
+
+static float g_in[3 * GATE_CNN_INPUT_H * GATE_CNN_INPUT_W];
+
+static float g_c1[C1 * GATE_CNN_INPUT_H * GATE_CNN_INPUT_W];
+static float g_p1[C1 * 6 * 24];
+
+static float g_c2[C2 * 6 * 24];
+static float g_p2[C2 * 3 * 12];
+
+static float g_c3[C3 * 3 * 12];
+static float g_ap[C3 * 3 * 2];
+
+static float g_fc1[64];
+static float g_fc2[32];
+static float g_out[5];
+
+/* --------------------------------------------------------- */
+/* Cached resize map */
+/* --------------------------------------------------------- */
+
+static int map_w = -1;
+static int map_h = -1;
+
+static int x0_map[GATE_CNN_INPUT_W];
+static int x1_map[GATE_CNN_INPUT_W];
+static float wx_map[GATE_CNN_INPUT_W];
+
+static int y0_map[GATE_CNN_INPUT_H];
+static int y1_map[GATE_CNN_INPUT_H];
+static float wy_map[GATE_CNN_INPUT_H];
+
+/* --------------------------------------------------------- */
+/* Small helpers */
+/* --------------------------------------------------------- */
+
+static inline float fast_sigmoid(float x)
+{
+ return 1.0f / (1.0f + expf(-x));
+}
+
+static inline float clampf_local(float v, float lo, float hi)
+{
+ if (v < lo) return lo;
+ if (v > hi) return hi;
+ return v;
+}
+
+static inline void relu_inplace(float *x, int n)
+{
+ for (int i = 0; i < n; i++) {
+ if (x[i] < 0.0f) {
+ x[i] = 0.0f;
+ }
+ }
+}
+
+/* --------------------------------------------------------- */
+/* UYVY pixel access from Paparazzi image buffer */
+/* --------------------------------------------------------- */
+
+static inline void uyvy_get_pixel(const uint8_t *frame, int width, int x, int y,
+ float *Y, float *U, float *V)
+{
+ const uint8_t *row = frame + (size_t)y * (size_t)width * 2u;
+ int pair = x >> 1;
+ int idx = pair * 4;
+
+ uint8_t u = row[idx + 0];
+ uint8_t v = row[idx + 2];
+ uint8_t yy = (x & 1) ? row[idx + 3] : row[idx + 1];
+
+ *Y = (float)yy * (1.0f / 255.0f);
+ *U = (float)u * (1.0f / 255.0f);
+ *V = (float)v * (1.0f / 255.0f);
+}
+
+/* --------------------------------------------------------- */
+/* Resize map cache */
+/* --------------------------------------------------------- */
+
+static void build_resize_map_if_needed(int width, int height)
+{
+ if (width == map_w && height == map_h) {
+ return;
+ }
+
+ map_w = width;
+ map_h = height;
+
+ for (int ox = 0; ox < GATE_CNN_INPUT_W; ox++) {
+ float gx = ((float)ox * (float)(width - 1)) / (float)(GATE_CNN_INPUT_W - 1);
+ int x0 = (int)gx;
+ int x1 = x0 + 1;
+ if (x1 >= width) {
+ x1 = width - 1;
+ }
+ x0_map[ox] = x0;
+ x1_map[ox] = x1;
+ wx_map[ox] = gx - (float)x0;
+ }
+
+ for (int oy = 0; oy < GATE_CNN_INPUT_H; oy++) {
+ float gy = ((float)oy * (float)(height - 1)) / (float)(GATE_CNN_INPUT_H - 1);
+ int y0 = (int)gy;
+ int y1 = y0 + 1;
+ if (y1 >= height) {
+ y1 = height - 1;
+ }
+ y0_map[oy] = y0;
+ y1_map[oy] = y1;
+ wy_map[oy] = gy - (float)y0;
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Direct UYVY -> resized CHW input */
+/* --------------------------------------------------------- */
+
+static void uyvy_to_resized_input(const uint8_t *frame, int width, int height, float *out_chw)
+{
+ build_resize_map_if_needed(width, height);
+
+ for (int oy = 0; oy < GATE_CNN_INPUT_H; oy++) {
+ int y0 = y0_map[oy];
+ int y1 = y1_map[oy];
+ float wy = wy_map[oy];
+ float wy0 = 1.0f - wy;
+
+ for (int ox = 0; ox < GATE_CNN_INPUT_W; ox++) {
+ int x0 = x0_map[ox];
+ int x1 = x1_map[ox];
+ float wx = wx_map[ox];
+ float wx0 = 1.0f - wx;
+
+ float Y00, U00, V00;
+ float Y01, U01, V01;
+ float Y10, U10, V10;
+ float Y11, U11, V11;
+
+ uyvy_get_pixel(frame, width, x0, y0, &Y00, &U00, &V00);
+ uyvy_get_pixel(frame, width, x1, y0, &Y01, &U01, &V01);
+ uyvy_get_pixel(frame, width, x0, y1, &Y10, &U10, &V10);
+ uyvy_get_pixel(frame, width, x1, y1, &Y11, &U11, &V11);
+
+ float topY = Y00 * wx0 + Y01 * wx;
+ float botY = Y10 * wx0 + Y11 * wx;
+ float topU = U00 * wx0 + U01 * wx;
+ float botU = U10 * wx0 + U11 * wx;
+ float topV = V00 * wx0 + V01 * wx;
+ float botV = V10 * wx0 + V11 * wx;
+
+ int p = oy * GATE_CNN_INPUT_W + ox;
+ out_chw[0 * (GATE_CNN_INPUT_H * GATE_CNN_INPUT_W) + p] = topY * wy0 + botY * wy;
+ out_chw[1 * (GATE_CNN_INPUT_H * GATE_CNN_INPUT_W) + p] = topU * wy0 + botU * wy;
+ out_chw[2 * (GATE_CNN_INPUT_H * GATE_CNN_INPUT_W) + p] = topV * wy0 + botV * wy;
+ }
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Conv 3x3 same */
+/* --------------------------------------------------------- */
+
+static void conv3x3_same(const float *x, int cin, int h, int w,
+ const float *weight, const float *bias, int cout,
+ float *out)
+{
+ for (int co = 0; co < cout; co++) {
+ for (int oy = 0; oy < h; oy++) {
+ for (int ox = 0; ox < w; ox++) {
+ float acc = bias[co];
+
+ for (int ci = 0; ci < cin; ci++) {
+ const float *xci = x + ci * h * w;
+ const float *wco = weight + co * cin * 9 + ci * 9;
+
+ for (int ky = 0; ky < 3; ky++) {
+ int iy = oy + ky - 1;
+ if ((unsigned)iy >= (unsigned)h) {
+ continue;
+ }
+
+ int base = iy * w;
+ for (int kx = 0; kx < 3; kx++) {
+ int ix = ox + kx - 1;
+ if ((unsigned)ix >= (unsigned)w) {
+ continue;
+ }
+ acc += xci[base + ix] * wco[ky * 3 + kx];
+ }
+ }
+ }
+
+ out[co * h * w + oy * w + ox] = acc;
+ }
+ }
+ }
+}
+
+/* --------------------------------------------------------- */
+/* MaxPool 2x2 stride 2 */
+/* --------------------------------------------------------- */
+
+static void maxpool2x2_s2(const float *x, int c, int h, int w, float *out)
+{
+ int oh = h >> 1;
+ int ow = w >> 1;
+
+ for (int ch = 0; ch < c; ch++) {
+ const float *xc = x + ch * h * w;
+ float *oc = out + ch * oh * ow;
+
+ for (int oy = 0; oy < oh; oy++) {
+ int iy = oy << 1;
+ for (int ox = 0; ox < ow; ox++) {
+ int ix = ox << 1;
+
+ float a = xc[iy * w + ix];
+ float b = xc[iy * w + ix + 1];
+ float c0 = xc[(iy + 1) * w + ix];
+ float d = xc[(iy + 1) * w + ix + 1];
+
+ float m = a;
+ if (b > m) m = b;
+ if (c0 > m) m = c0;
+ if (d > m) m = d;
+
+ oc[oy * ow + ox] = m;
+ }
+ }
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Fixed pool: (24,3,12) -> (24,3,2) */
+/* --------------------------------------------------------- */
+
+static void avgpool_width_12_to_2(const float *x, float *out)
+{
+ for (int ch = 0; ch < C3; ch++) {
+ const float *xc = x + ch * 3 * 12;
+ float *oc = out + ch * 3 * 2;
+
+ for (int row = 0; row < 3; row++) {
+ const float *r = xc + row * 12;
+
+ float s0 = r[0] + r[1] + r[2] + r[3] + r[4] + r[5];
+ float s1 = r[6] + r[7] + r[8] + r[9] + r[10] + r[11];
+
+ oc[row * 2 + 0] = s0 * (1.0f / 6.0f);
+ oc[row * 2 + 1] = s1 * (1.0f / 6.0f);
+ }
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Linear */
+/* --------------------------------------------------------- */
+
+static void linear_layer(const float *x, int in_dim,
+ const float *weight, const float *bias,
+ int out_dim, float *out)
+{
+ for (int o = 0; o < out_dim; o++) {
+ const float *wo = weight + o * in_dim;
+ float acc = bias[o];
+ for (int i = 0; i < in_dim; i++) {
+ acc += wo[i] * x[i];
+ }
+ out[o] = acc;
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Core CNN inference */
+/* --------------------------------------------------------- */
+
+static int gate_cnn_predict_uyvy_core(const uint8_t *frame, int width, int height, gate_prediction_t *out)
+{
+ if (frame == NULL || out == NULL) {
+ return -1;
+ }
+ if (width <= 1 || height <= 1) {
+ return -2;
+ }
+ if (width & 1) {
+ return -3;
+ }
+
+ uyvy_to_resized_input(frame, width, height, g_in);
+
+ conv3x3_same(g_in, 3, 12, 48,
+ &features_0_weight[0][0][0][0], &features_0_bias[0], C1, g_c1);
+ relu_inplace(g_c1, C1 * 12 * 48);
+ maxpool2x2_s2(g_c1, C1, 12, 48, g_p1);
+
+ conv3x3_same(g_p1, C1, 6, 24,
+ &features_3_weight[0][0][0][0], &features_3_bias[0], C2, g_c2);
+ relu_inplace(g_c2, C2 * 6 * 24);
+ maxpool2x2_s2(g_c2, C2, 6, 24, g_p2);
+
+ conv3x3_same(g_p2, C2, 3, 12,
+ &features_6_weight[0][0][0][0], &features_6_bias[0], C3, g_c3);
+ relu_inplace(g_c3, C3 * 3 * 12);
+
+ avgpool_width_12_to_2(g_c3, g_ap);
+
+ linear_layer(g_ap, 144, &head_1_weight[0][0], &head_1_bias[0], 64, g_fc1);
+ relu_inplace(g_fc1, 64);
+
+ linear_layer(g_fc1, 64, &head_3_weight[0][0], &head_3_bias[0], 32, g_fc2);
+ relu_inplace(g_fc2, 32);
+
+ linear_layer(g_fc2, 32, &head_5_weight[0][0], &head_5_bias[0], 5, g_out);
+
+ float present_prob = fast_sigmoid(g_out[0]);
+ float cx_n = fast_sigmoid(g_out[1]);
+ float cy_n = fast_sigmoid(g_out[2]);
+ float bw_n = fast_sigmoid(g_out[3]);
+ float bh_n = fast_sigmoid(g_out[4]);
+
+ float cx = cx_n * (float)width;
+ float cy = cy_n * (float)height;
+ float bw = bw_n * (float)width;
+ float bh = bh_n * (float)height;
+
+ out->present_prob = present_prob;
+ out->present = (present_prob >= GATE_CNN_THRESHOLD) ? 1u : 0u;
+ out->center_x = cx;
+ out->center_y = cy;
+ out->bbox_width = bw;
+ out->bbox_height = bh;
+ out->bbox_xyxy[0] = clampf_local(cx - 0.5f * bw, 0.0f, (float)(width - 1));
+ out->bbox_xyxy[1] = clampf_local(cy - 0.5f * bh, 0.0f, (float)(height - 1));
+ out->bbox_xyxy[2] = clampf_local(cx + 0.5f * bw, 0.0f, (float)(width - 1));
+ out->bbox_xyxy[3] = clampf_local(cy + 0.5f * bh, 0.0f, (float)(height - 1));
+ out->updated = 1u;
+
+ return 0;
+}
+
+static void gate_cnn_debug_print_prediction(const gate_prediction_t *pred, int width, int height, uint32_t frame_idx)
+{
+#if GATE_CNN_DEBUG
+ if (pred == NULL) {
+ return;
+ }
+ if ((frame_idx % GATE_CNN_DEBUG_EVERY_N_FRAMES) != 0u) {
+ return;
+ }
+
+ GATE_CNN_PRINT("[gate_cnn_detector.c][cnn] frame=%lu time=%.3f ms prob=%.3f detected=%u center=(%.1f,%.1f) size=(%.1f,%.1f) bbox=(%.1f,%.1f,%.1f,%.1f) img=%dx%d\n",
+ (unsigned long)frame_idx,
+ (double)g_last_inference_ms,
+ (double)pred->present_prob,
+ pred->present,
+ (double)pred->center_x,
+ (double)pred->center_y,
+ (double)pred->bbox_width,
+ (double)pred->bbox_height,
+ (double)pred->bbox_xyxy[0],
+ (double)pred->bbox_xyxy[1],
+ (double)pred->bbox_xyxy[2],
+ (double)pred->bbox_xyxy[3],
+ width,
+ height);
+
+
+ if (height > width) {
+ GATE_CNN_PRINT("[gate_cnn_detector.c][warn] frame=%lu image looks portrait-like (w=%d h=%d). extra will still carry img->w=%d because center_x/pixel_x are defined in that axis.\n",
+ (unsigned long)frame_idx,
+ width,
+ height,
+ width);
+ }
+
+ if (pred->present) {
+ GATE_CNN_PRINT("[gate_cnn_detector.c][detection] frame=%lu DETECTED gate -> will send positive VISUAL_DETECTION quality=%ld extra(img_w)=%d\n",
+ (unsigned long)frame_idx,
+ (long)(1000.0f * pred->present_prob),
+ width);
+ } else {
+ GATE_CNN_PRINT("[gate_cnn_detector.c][detection] frame=%lu NO gate -> will send negative VISUAL_DETECTION quality=0 extra(img_w)=%d\n",
+ (unsigned long)frame_idx,
+ width);
+ }
+#endif
+}
+
+/* --------------------------------------------------------- */
+/* Paparazzi video callback */
+/* --------------------------------------------------------- */
+
+static struct image_t *gate_cnn_detector_func(struct image_t *img, uint8_t camera_id __attribute__((unused)))
+{
+ gate_prediction_t local_pred;
+ const uint32_t npix = (uint32_t)img->w * (uint32_t)img->h;
+
+ if (img->type != IMAGE_YUV422) {
+ return img;
+ }
+
+ if (npix == 0U) {
+ return img;
+ }
+
+ memset(&local_pred, 0, sizeof(local_pred));
+
+ double t0_ms = gate_cnn_now_ms();
+ int status = gate_cnn_predict_uyvy_core((const uint8_t *)img->buf, img->w, img->h, &local_pred);
+ double t1_ms = gate_cnn_now_ms();
+ g_last_inference_ms = (float)(t1_ms - t0_ms);
+ g_frame_counter++;
+
+ if (status == 0) {
+ gate_cnn_debug_print_prediction(&local_pred, img->w, img->h, g_frame_counter);
+
+ pthread_mutex_lock(&gate_cnn_mutex);
+ memcpy(&g_pred, &local_pred, sizeof(local_pred));
+ g_last_img_w = (int16_t)img->w;
+ g_last_img_h = (int16_t)img->h;
+ pthread_mutex_unlock(&gate_cnn_mutex);
+ } else {
+ GATE_CNN_PRINT("[gate_cnn_detector.c][cnn] frame=%lu prediction_failed status=%d time=%.3f ms img=%dx%d\n",
+ (unsigned long)g_frame_counter,
+ status,
+ (double)g_last_inference_ms,
+ img->w,
+ img->h);
+ }
+
+ return img;
+}
+
+/* --------------------------------------------------------- */
+/* Public module API */
+/* --------------------------------------------------------- */
+
+void gate_cnn_detector_init(void)
+{
+ memset(&g_pred, 0, sizeof(g_pred));
+ pthread_mutex_init(&gate_cnn_mutex, NULL);
+
+ map_w = -1;
+ map_h = -1;
+ g_frame_counter = 0u;
+ g_last_inference_ms = 0.0f;
+ g_last_img_w = 0;
+ g_last_img_h = 0;
+
+ gate_cnn_listener = cv_add_to_device(&GATE_CNN_DETECTOR_CAMERA,
+ gate_cnn_detector_func,
+ GATE_CNN_DETECTOR_FPS,
+ 0);
+ (void)gate_cnn_listener;
+}
+
+void gate_cnn_detector_periodic(void)
+{
+ gate_prediction_t local_pred;
+ int16_t local_img_w = 0;
+ int16_t local_img_h = 0;
+
+ pthread_mutex_lock(&gate_cnn_mutex);
+ memcpy(&local_pred, &g_pred, sizeof(local_pred));
+ local_img_w = g_last_img_w;
+ local_img_h = g_last_img_h;
+ g_pred.updated = 0u;
+ pthread_mutex_unlock(&gate_cnn_mutex);
+
+ /*
+ * Revised sending behavior:
+ * - send on every updated detector output, not only on positive detections
+ * - if gate detected: send bbox + center + positive quality
+ * - if gate not detected: send zeroed geometry and quality=0
+ *
+ * extra carries image width so nav can compute center_x dynamically:
+ * center_x = extra / 2
+ */
+ if (local_pred.updated) {
+ int16_t msg_px = 0;
+ int16_t msg_py = 0;
+ int16_t msg_w = 0;
+ int16_t msg_h = 0;
+ int32_t msg_q = 0;
+ int16_t msg_extra = local_img_w;
+
+ if (local_pred.present) {
+ msg_px = (int16_t)local_pred.center_x;
+ msg_py = (int16_t)local_pred.center_y;
+ msg_w = (int16_t)local_pred.bbox_width;
+ msg_h = (int16_t)local_pred.bbox_height;
+ msg_q = (int32_t)(1000.0f * local_pred.present_prob);
+ }
+
+ GATE_CNN_PRINT("[gate_cnn_detector.c][tx VISUAL_DETECTION] det=%u px=%d py=%d w=%d h=%d quality=%ld extra(img_w)=%d img=%dx%d time=%.3f ms\n",
+ local_pred.present,
+ msg_px,
+ msg_py,
+ msg_w,
+ msg_h,
+ (long)msg_q,
+ msg_extra,
+ local_img_w,
+ local_img_h,
+ (double)g_last_inference_ms);
+
+ AbiSendMsgVISUAL_DETECTION(
+ GATE_CNN_VISUAL_DETECTION_ID,
+ msg_px,
+ msg_py,
+ msg_w,
+ msg_h,
+ msg_q,
+ msg_extra
+ );
+ }
+}
\ No newline at end of file
diff --git a/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h
new file mode 100644
index 00000000000..2ad79120a3d
--- /dev/null
+++ b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_detector.h
@@ -0,0 +1,33 @@
+#ifndef GATE_CNN_DETECTOR_H
+#define GATE_CNN_DETECTOR_H
+
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define GATE_CNN_INPUT_W 48
+#define GATE_CNN_INPUT_H 12
+#define GATE_CNN_THRESHOLD 0.2f //TUNING FOR CONFIDENCE THRESHOLD
+
+
+typedef struct {
+ float present_prob;
+ uint8_t present;
+ float center_x;
+ float center_y;
+ float bbox_width;
+ float bbox_height;
+ float bbox_xyxy[4];
+ uint8_t updated;
+} gate_prediction_t;
+
+void gate_cnn_detector_init(void);
+void gate_cnn_detector_periodic(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c
new file mode 100644
index 00000000000..2687c404013
--- /dev/null
+++ b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.c
@@ -0,0 +1,2094 @@
+/*
+Author: Tommaso Calzolari
+email: tcalzolari@tudelft.nl
+Group 9 from MAVLab 2026
+THESE WEIGHTS WERE GENERATED OFFLINE AFTER TRAINING ON MAV IMAGES OF MAVLAB GATES AND SHOULD NOT BE MODIFIED
+*/
+
+#include "gate_cnn_weights.h"
+
+const float features_0_weight[8][3][3][3] = {
+ 2.04977065e-01f, 2.29028687e-01f, 1.27031151e-02f, 3.82197380e-01f, 1.56061724e-01f, 2.02673733e-01f, -1.40171051e-02f, 2.10296437e-01f,
+ 2.33364984e-01f, -1.02057636e-01f, 1.92912921e-01f, 5.90275191e-02f, 1.38659999e-01f, 1.39151700e-02f, 7.99481049e-02f, -2.78191697e-02f,
+ 1.39484078e-01f, 1.92624610e-02f, -1.49420217e-01f, -2.63332054e-02f, -1.60426125e-01f, -7.19170421e-02f, -1.49125785e-01f, 5.42549007e-02f,
+ -1.92199111e-01f, -1.51584029e-01f, -1.18259951e-01f, -7.85925090e-02f, 6.00901507e-02f, -1.81262448e-01f, 4.50601727e-01f, 8.07001963e-02f,
+ 3.39335322e-01f, 2.47835070e-01f, 1.90063864e-01f, 3.38829696e-01f, 6.17802888e-02f, 1.78803459e-01f, 4.23440672e-02f, -4.75035682e-02f,
+ 6.80902526e-02f, -3.93368341e-02f, 9.28980336e-02f, 1.87301174e-01f, 1.15318865e-01f, -1.92044377e-01f, 1.24421744e-02f, -6.23802617e-02f,
+ 3.49575244e-02f, -1.83775619e-01f, -2.56638169e-01f, -1.51379079e-01f, -2.29916066e-01f, 8.24614540e-02f, 1.99529946e-01f, 2.26343557e-01f,
+ -1.09649271e-01f, 1.28005147e-01f, 2.49127522e-01f, -4.60921347e-01f, 1.03387684e-01f, -3.30859013e-02f, -2.04302415e-01f, 3.60933878e-02f,
+ 1.84296653e-01f, -1.47628620e-01f, 3.09710652e-01f, 2.66776551e-02f, -1.80143297e-01f, 2.74856091e-02f, 2.95874983e-01f, -2.10111234e-02f,
+ 1.76405028e-01f, -1.87130123e-01f, -4.88909602e-01f, -1.71220392e-01f, -1.31988823e-01f, -1.42251983e-01f, 5.78172766e-02f, 1.74504921e-01f,
+ -2.78125793e-01f, -1.31091788e-01f, 1.02006100e-01f, -7.77373314e-02f, 1.16698831e-01f, -4.56425995e-02f, 1.09986581e-01f, -1.49423853e-01f,
+ -9.70161781e-02f, 5.86216450e-02f, 4.06594723e-02f, -4.90149781e-02f, 1.14609912e-01f, 1.30725637e-01f, -1.39455959e-01f, -1.02639273e-01f,
+ 1.76115513e-01f, -6.48870617e-02f, -6.81748539e-02f, -1.86109960e-01f, -1.10106722e-01f, 4.80228812e-02f, -2.53761709e-02f, -1.39593109e-01f,
+ 4.51100152e-03f, -1.31355390e-01f, -1.63170308e-01f, -1.05871364e-01f, -1.68330938e-01f, -1.22436583e-01f, 1.92167401e-01f, 3.63230743e-02f,
+ 5.92535064e-02f, -1.79391474e-01f, -1.26292467e-01f, -6.40062764e-02f, 3.00677083e-02f, -1.69237226e-01f, -8.28697011e-02f, -1.15110107e-01f,
+ 5.32923790e-04f, -7.15594441e-02f, -1.33230118e-02f, -1.30306184e-01f, -1.31993100e-01f, -1.12172015e-01f, -6.58233166e-02f, -1.51793465e-01f,
+ 1.61259890e-01f, -3.81684937e-02f, 1.65479720e-01f, 5.99121451e-02f, -1.62862450e-01f, 1.33078530e-01f, -5.28997891e-02f, -2.07426265e-01f,
+ -3.31778824e-01f, -3.60137254e-01f, -1.21465251e-02f, -9.16834176e-02f, 8.04946721e-02f, -2.14284837e-01f, 8.28724951e-02f, -2.01566935e-01f,
+ -8.36893842e-02f, 3.68350628e-03f, 8.42082724e-02f, 1.36720389e-01f, 1.64477244e-01f, -1.39188379e-01f, 5.74201904e-02f, -6.74300268e-02f,
+ 1.21045196e-02f, -8.16462412e-02f, 2.30145469e-01f, -8.13857391e-02f, 1.57495171e-01f, 1.24587409e-01f, 1.18624657e-01f, -9.79240909e-02f,
+ 1.81854710e-01f, 5.89976124e-02f, -6.43566549e-02f, -2.72217900e-01f, -6.14145957e-03f, -1.60581708e-01f, -2.08476007e-01f, 6.69611841e-02f,
+ -1.08353660e-01f, -2.71902829e-01f, -2.69174784e-01f, 1.58477258e-02f, 1.36077896e-01f, -1.36599485e-02f, -7.01907128e-02f, -2.43432969e-02f,
+ -1.00417793e-01f, 1.34367749e-01f, 2.28163093e-01f, -9.82937962e-02f, 1.64318949e-01f, 2.09641516e-01f, 1.23486936e-01f, 6.42444864e-02f,
+ 2.22485945e-01f, 1.98901191e-01f, 1.79951310e-01f, 6.85900301e-02f, 3.40486765e-02f, 1.15067951e-01f, 5.38545251e-02f, -3.13420519e-02f,
+ 3.70795429e-01f, 4.13011312e-01f, 1.65752172e-01f, 3.59398872e-02f, 1.16497464e-01f, 5.96146174e-02f, 6.22433014e-02f, 7.45133460e-02f,
+ -1.93589687e-01f, -8.96697417e-02f, 1.47306740e-01f, 3.84709351e-02f, -7.41297454e-02f, -1.77531868e-01f, -2.08473265e-01f, -1.74287349e-01f,
+ -6.87189773e-02f, 2.45784819e-02f, 1.36914715e-01f, 9.20341611e-02f, -1.94026098e-01f, -1.35341182e-01f, -6.12454712e-02f, 1.25908405e-01f
+};
+
+const float features_0_bias[8] = {
+ -2.48816591e-02f, -1.14733942e-01f, 1.54304415e-01f, -7.32488334e-02f, -1.24460697e-01f, 1.40609786e-01f, -7.66089931e-03f, -4.41797636e-02f
+};
+
+const float features_3_weight[16][8][3][3] = {
+ -3.65966186e-03f, 2.01859951e-01f, 1.95077166e-01f, 9.36203599e-02f, -1.45145124e-02f, -1.03377670e-01f, -1.13603145e-01f, 7.67112449e-02f,
+ 6.15778659e-03f, 2.83566892e-01f, 2.04784319e-01f, 1.25401571e-01f, 4.04124931e-02f, -4.85100336e-02f, -1.62363425e-01f, -1.78940058e-01f,
+ -4.77727689e-02f, -2.11499467e-01f, -5.52237406e-03f, -1.18028875e-02f, 3.92901689e-01f, -1.64760023e-01f, -3.72562200e-01f, 2.21504509e-01f,
+ 1.49318576e-01f, 4.69758123e-01f, 2.64642268e-01f, -8.63998756e-02f, -2.07805634e-02f, -5.70761748e-02f, -3.60296331e-02f, -1.12090044e-01f,
+ 6.58847839e-02f, -8.19966346e-02f, 5.91822118e-02f, 5.34271300e-02f, 8.41448456e-02f, -9.03460979e-02f, 8.47062990e-02f, -5.56624569e-02f,
+ 4.37049977e-02f, 1.10572018e-01f, -1.66078005e-02f, -9.10587260e-04f, -2.71070041e-02f, 2.47190408e-02f, 1.02425940e-01f, -6.36403859e-02f,
+ 6.00191057e-02f, 5.08577079e-02f, 1.06417194e-01f, -4.55485173e-02f, -1.32884189e-01f, 4.41608392e-02f, 1.22723751e-01f, -1.61748007e-01f,
+ -3.24921459e-02f, -1.70517668e-01f, -1.31040379e-01f, -1.54806346e-01f, 6.93066278e-04f, -1.25097493e-02f, -5.14257699e-02f, 4.48125869e-01f,
+ 4.96141583e-01f, 4.22705293e-01f, 1.06451981e-01f, 7.65742511e-02f, -4.03486714e-02f, 7.45366141e-02f, 2.14881897e-01f, -7.75018381e-03f,
+ -1.15740754e-01f, -5.90509363e-02f, -8.41022506e-02f, -7.66093805e-02f, -4.42517772e-02f, -6.97322935e-02f, -6.61499053e-02f, -8.07671174e-02f,
+ -1.18069388e-01f, 5.95109761e-02f, -9.65034440e-02f, -1.17146764e-02f, -6.50947765e-02f, -3.19020487e-02f, 7.01961443e-02f, 2.99496148e-02f,
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+ -1.01477109e-01f, 3.20686735e-02f, -3.24554890e-02f, -3.44868690e-01f, -5.02786577e-01f, -3.50010455e-01f, -3.23407084e-01f, -3.05147827e-01f,
+ -6.77646771e-02f, -1.99594498e-01f, -1.01606883e-01f, -3.29129905e-01f, -4.29622561e-01f, -4.34977978e-01f, -7.77556300e-02f, -2.61699766e-01f,
+ -2.21292496e-01f, -1.01320200e-01f, -8.43815692e-03f, 8.35413262e-02f, 4.36644405e-02f, 1.01634398e-01f, -6.31333366e-02f, -8.55575204e-02f,
+ 1.31316468e-01f, 1.17433153e-01f, -1.56665310e-01f, 2.47931704e-02f, -4.75398451e-02f, -5.50929420e-02f, 1.94194596e-02f, 4.35449220e-02f,
+ 2.64078453e-02f, -5.67459129e-02f, 1.14317693e-01f, -1.73352417e-02f, -7.21219555e-02f, -5.50686084e-02f, 1.15911387e-01f, 5.67261077e-06f,
+ -1.59846451e-02f, -4.89932783e-02f, -3.08682043e-02f, -9.91538763e-02f, -9.36024860e-02f, 6.77295551e-02f, 1.19454868e-01f, 1.48692176e-01f,
+ 9.88565106e-03f, 1.50498062e-01f, 2.01203935e-02f, 2.34572336e-01f, 2.24200428e-01f, 1.88240215e-01f, 2.15070695e-01f, 1.93824738e-01f,
+ 1.31122664e-01f, 2.28217006e-01f, 1.02229938e-01f, 1.74251854e-01f, 2.23488227e-01f, 2.34171852e-01f, 7.01039061e-02f, 4.17531580e-02f,
+ 5.55268023e-04f, -3.01881552e-01f, -8.33000362e-01f, -6.36797965e-01f, -4.84830678e-01f, -4.68937427e-01f, -2.69943744e-01f, -2.34304965e-01f,
+ 1.36518389e-01f, 2.31542550e-02f, 7.88583308e-02f, 1.68506190e-01f, -3.23428363e-02f, 4.37410288e-02f, 1.44115359e-01f, 4.50311266e-02f,
+ -9.85467806e-02f, 2.67991841e-01f, 1.70429468e-01f, 6.39412552e-02f, 3.09923198e-02f, 1.44473374e-01f, -7.96170607e-02f, 1.70486808e-01f,
+ -4.02457491e-02f, -3.51980980e-03f, -8.85044113e-02f, 3.82423609e-01f, -7.74293393e-02f, 5.45617640e-01f, 2.69847065e-01f, 1.40706956e-01f,
+ 1.99780688e-01f, 3.56533527e-01f, -1.20638475e-01f, 3.70168537e-02f, -4.35467474e-02f, 8.83540809e-02f, 7.04808980e-02f, 4.15771268e-02f,
+ -6.01891279e-02f, -9.61959660e-02f, 4.43378277e-03f, -6.90864250e-02f, 9.67927501e-02f, -1.13148369e-01f, 5.26120774e-02f, 1.17383733e-01f,
+ 5.89713342e-02f, 4.01588008e-02f, -1.13286354e-01f, 1.13256492e-01f, -2.01451853e-02f, -1.26307636e-01f, 1.54751763e-01f, -1.18142879e-02f,
+ -1.39718875e-01f, 3.81551660e-03f, -2.42731959e-01f, -2.27185711e-02f, 3.33494172e-02f, -1.44991875e-01f, -3.05971682e-01f, -2.45793641e-01f,
+ -1.74669363e-02f, -5.02103388e-01f, -4.68091846e-01f, -5.95103562e-01f, 4.45921049e-02f, -2.57957075e-02f, -2.83350348e-01f, 3.14586610e-01f,
+ 2.10136518e-01f, 7.68592805e-02f, 1.79421268e-02f, 1.53063536e-01f, 1.61088526e-01f, 1.32644847e-01f, 7.71528156e-03f, 1.52149662e-01f,
+ 1.25886634e-01f, 1.78995445e-01f, 1.84141442e-01f, 2.33450487e-01f, 5.51542677e-02f, 1.94417983e-01f, -4.83830608e-02f, 5.63600883e-02f,
+ -1.52977975e-02f, 9.38943326e-02f, 1.06923863e-01f, 5.27360141e-02f, 8.39173421e-02f, 1.44924760e-01f, 1.76025718e-01f, 3.11863236e-02f,
+ 9.13172215e-03f, -2.24174373e-03f, -9.29834545e-02f, -1.26778796e-01f, 2.15556964e-01f, -1.38090149e-01f, -1.11440882e-01f, 4.83404770e-02f,
+ -5.20635605e-01f, -1.40953183e-01f, 1.91865981e-01f, -2.70160530e-02f, 1.83320697e-02f, 7.66239241e-02f, -3.90584469e-02f, 9.42786187e-02f,
+ 9.29988921e-02f, -9.03986692e-02f, -9.09558758e-02f, -9.52466801e-02f, -6.45329505e-02f, -4.58507203e-02f, -8.86410940e-03f, -2.86345463e-02f,
+ -5.94922565e-02f, -3.74146216e-02f, -4.26060744e-02f, 1.15512751e-01f, -4.36531007e-02f, -3.32723856e-02f, 3.97410840e-02f, -1.02038654e-02f,
+ 7.97377974e-02f, 3.18994485e-02f, 9.59399492e-02f, -8.27804431e-02f, 4.60208878e-02f, 9.60666835e-02f, -9.96767953e-02f, 3.51250507e-02f,
+ 4.58924510e-02f, -6.50748312e-02f, -3.30686979e-02f, -9.83283743e-02f, -5.62414601e-02f, 2.24632137e-02f, 5.54674007e-02f, 1.19536243e-01f,
+ 2.40098611e-01f, 1.04801200e-01f, 4.44705129e-01f, 4.92110878e-01f, 3.63784283e-01f, 5.56375161e-02f, 1.91523790e-01f, 9.89502221e-02f,
+ 1.28138497e-01f, 1.07985802e-01f, 1.79834694e-01f, 3.76426475e-03f, 2.82477029e-02f, 8.26959834e-02f, -7.78163150e-02f, 3.14026722e-03f,
+ -1.56610638e-01f, 7.90920034e-02f, 8.91954377e-02f, 2.06869515e-03f, 1.32035464e-01f, 6.11661039e-02f, -1.09852172e-01f, -1.75571829e-01f,
+ -2.50503242e-01f, -2.09958866e-01f, -5.48677891e-02f, -1.80121273e-01f, 4.12006497e-01f, 5.46279192e-01f, 3.44493210e-01f, 6.21514082e-01f,
+ 3.76754344e-01f, 4.31223392e-01f, 4.61018234e-01f, -9.93783325e-02f, 2.76674461e-02f, 9.75637138e-02f, -7.70346448e-02f, -7.61241615e-02f,
+ 1.15254752e-01f, 9.45908427e-02f, -6.56965822e-02f, 7.08644763e-02f, -1.50639750e-02f, -1.16089180e-01f, 8.84807948e-03f, 3.80510651e-02f,
+ -3.53247970e-02f, 4.09725308e-02f, -1.00670889e-01f, 8.16208571e-02f, 1.00368418e-01f, 3.68240960e-02f, 7.05386186e-03f, 1.81440376e-02f,
+ -2.11842015e-01f, -1.03270441e-01f, -6.79473355e-02f, -3.91614884e-02f, -6.83291554e-02f, 4.38191630e-02f, -2.67767608e-01f, -3.71804506e-01f,
+ -1.46222576e-01f, -4.53307837e-01f, -3.17031413e-01f, -3.05819333e-01f, 1.15517341e-01f, 3.50294029e-03f, 4.93278280e-02f, 3.24335903e-01f,
+ 7.43725598e-02f, 1.33480966e-01f, 9.45284814e-02f, 1.33118495e-01f, 8.00260827e-02f, -1.08851336e-01f, -1.08419992e-01f, 7.56372325e-03f,
+ -1.71065342e-03f, 1.69258744e-01f, 1.88383833e-01f, -1.13002561e-01f, 1.35548757e-02f, 5.20775802e-02f, -3.58166955e-02f, -7.89230689e-03f,
+ -6.65578619e-02f, 3.82601805e-02f, 2.08598658e-01f, 1.91467814e-02f, -5.87402284e-02f, -5.07622920e-02f, -1.54327512e-01f, -4.91856113e-02f,
+ -1.90340772e-01f, -1.29603192e-01f, -6.91738203e-02f, -2.73263484e-01f, 4.38263595e-01f, -9.33397561e-02f, -4.40834649e-02f, 6.38761759e-01f,
+ 1.88753515e-01f, 5.43615639e-01f, 4.36253518e-01f, 7.38176238e-03f, 1.09539993e-01f, 8.93522725e-02f, -8.61137956e-02f, 7.28475377e-02f,
+ 6.15038127e-02f, -1.80666553e-04f, 1.14061832e-01f, -4.67816181e-02f, -2.73998976e-02f, -5.95117696e-02f, 1.69454385e-02f, 3.11794858e-02f,
+ 9.38392058e-03f, -6.62555620e-02f, -5.30007705e-02f, 4.00614291e-02f, -1.03231274e-01f, -3.18582095e-02f, 3.63026522e-02f, -2.47202236e-02f,
+ -3.19074979e-03f, -1.24233074e-01f, 3.23140174e-02f, -2.73169875e-02f, -3.87506634e-02f, 8.34965929e-02f, -1.58270761e-01f, -2.64336854e-01f,
+ -1.49524391e-01f, -2.65885562e-01f, -3.85078937e-01f, -2.39106238e-01f, -9.65026841e-02f, -2.52034783e-01f, -1.79813057e-01f, 5.15724868e-02f,
+ 3.07319194e-01f, 3.36313277e-01f, 6.53072400e-03f, 9.95378867e-02f, 6.28524795e-02f, -9.96518806e-02f, -1.81968454e-02f, 3.35798264e-02f
+};
+
+const float features_3_bias[16] = {
+ 1.56197011e-01f, -5.25872335e-02f, 9.64640975e-02f, 1.50938541e-01f, 1.70596257e-01f, -1.34237707e-01f, 5.02432398e-02f, -1.26543641e-01f,
+ 1.03908002e-01f, 2.65020877e-03f, -1.04337975e-01f, 1.07724041e-01f, -8.27666670e-02f, -8.65658373e-02f, -1.20735474e-01f, 2.75268741e-02f
+};
+
+const float features_6_weight[24][16][3][3] = {
+ 1.37741715e-01f, 1.82049856e-01f, 2.46746346e-01f, -9.95437801e-02f, -3.65593806e-02f, -5.97711839e-02f, 8.15662071e-02f, -6.30860962e-03f,
+ -2.39920709e-02f, -7.76026472e-02f, -3.88366207e-02f, 3.83057958e-03f, -5.44158854e-02f, -3.41379642e-02f, -2.93758754e-02f, -9.10625886e-03f,
+ -4.54909801e-02f, 3.99776222e-03f, 6.09809197e-02f, 1.82336256e-01f, 1.93832353e-01f, -9.97258872e-02f, 5.73897250e-02f, 1.60120040e-01f,
+ 1.23414196e-01f, 8.89678970e-02f, 5.21930046e-02f, 2.41255537e-01f, 3.75622958e-01f, 5.19320428e-01f, -4.32465583e-01f, -6.38136327e-01f,
+ -4.38860834e-01f, 4.31120172e-02f, 2.32949540e-01f, 3.97404373e-01f, -8.03165585e-02f, -4.73516434e-02f, 7.88549781e-02f, 7.89197460e-02f,
+ 8.84129554e-02f, 8.88770893e-02f, 1.42190990e-03f, 2.84951366e-02f, 2.53893621e-02f, -1.66505307e-01f, -1.59836367e-01f, -1.04388572e-01f,
+ -1.99800706e-06f, 1.56925038e-01f, 1.50563523e-01f, -2.57477790e-01f, -1.07950389e-01f, -9.47459936e-02f, -1.39216781e-01f, 2.74085347e-02f,
+ -1.79789260e-01f, 3.48488800e-02f, 1.46485120e-01f, 8.77652466e-02f, 2.56585125e-02f, 1.74827725e-01f, 7.95746744e-02f, -6.18660450e-02f,
+ 1.95016060e-02f, 3.03055998e-02f, 6.60780072e-02f, -4.42489311e-02f, -7.46467188e-02f, 3.72404903e-02f, 5.83867310e-03f, -2.71262731e-02f,
+ 1.99021652e-01f, 1.08227246e-01f, 2.85488099e-01f, 2.07497701e-02f, 1.77863643e-01f, 2.75067478e-01f, -1.44716457e-01f, -1.57742336e-01f,
+ -1.33129328e-01f, -3.37125622e-02f, -5.88260032e-02f, 2.53496338e-02f, 7.08193779e-02f, 1.97535113e-01f, 8.78981277e-02f, 1.58154462e-02f,
+ -5.33060841e-02f, -5.42478003e-02f, -5.78256361e-02f, -5.26230745e-02f, -1.86534040e-02f, -3.02011184e-02f, 3.27106714e-02f, 5.60289621e-02f,
+ -8.91839992e-03f, 7.87459612e-02f, -3.47924046e-02f, 3.65115218e-02f, -3.42113115e-02f, -9.57464501e-02f, -2.60149777e-01f, -4.09276962e-01f,
+ -2.96647847e-01f, -2.49250993e-01f, -1.23464353e-01f, -1.43621676e-02f, -2.98797101e-01f, -2.04398751e-01f, -1.79471016e-01f, -3.12396795e-01f,
+ -1.74428523e-01f, -3.18878293e-01f, -1.29163370e-01f, -1.06152251e-01f, -8.64784047e-02f, 1.52917653e-02f, -1.65577270e-02f, 8.68985578e-02f,
+ 2.41577886e-02f, 5.06036766e-02f, -5.81350662e-02f, 1.64586917e-01f, 8.07284713e-02f, 1.15291839e-02f, -2.50045836e-01f, 1.46837570e-02f,
+ 5.35793602e-02f, -1.16205707e-01f, 2.24814750e-02f, -5.14046289e-03f, -2.19067052e-01f, -1.84598431e-01f, -2.75735497e-01f, -1.95896581e-01f,
+ 1.36869982e-01f, 7.66627714e-02f, 5.92090823e-02f, 1.47452801e-01f, -1.30901814e-01f, -2.63893157e-01f, -1.00372560e-01f, -1.78987697e-01f,
+ -7.72668868e-02f, 1.72044579e-02f, -4.20848057e-02f, -1.49140194e-01f, -5.62469065e-02f, 3.91629413e-02f, -1.26958683e-01f, 3.90823521e-02f,
+ 5.56114735e-03f, 1.88563075e-02f, 3.42318714e-02f, 3.14147174e-02f, -6.49333149e-02f, -4.92276065e-02f, -1.99572742e-02f, 1.90437061e-03f,
+ 3.22561599e-02f, 3.22984979e-02f, 2.07822700e-03f, 1.25178263e-01f, 8.68120193e-02f, -2.38943458e-01f, -1.25526786e-01f, -7.67404959e-02f,
+ 8.16821679e-02f, 1.60553202e-01f, 2.21995398e-01f, 2.80906614e-02f, 3.23508084e-02f, 1.65885501e-02f, -4.00742516e-03f, 5.49529195e-02f,
+ 8.66603777e-02f, 5.17043993e-02f, 2.70417631e-02f, 1.23988427e-01f, -1.39623478e-01f, -2.60750968e-02f, -5.57125397e-02f, -1.22075103e-01f,
+ -4.25338857e-02f, 4.93989885e-03f, -1.34214535e-01f, -7.11416751e-02f, -1.35186940e-01f, -7.53511023e-03f, 1.04775906e-01f, 2.09925726e-01f,
+ 7.28590116e-02f, 3.09120506e-01f, 3.20464164e-01f, 8.25352669e-02f, 4.15595442e-01f, 4.57405061e-01f, -9.61527973e-02f, 1.66878924e-01f,
+ 1.32523820e-01f, -7.85662830e-02f, 2.59575129e-01f, 2.37967536e-01f, 2.98823081e-02f, 3.18096220e-01f, 3.30931067e-01f, 6.55791014e-02f,
+ -7.36332759e-02f, 4.24423516e-02f, -7.51197711e-02f, -1.00871725e-02f, 5.19137271e-03f, 5.97177781e-02f, -2.96047609e-02f, 2.39596963e-02f,
+ -1.81790721e-02f, -6.74649775e-02f, 1.75329410e-02f, -5.87467216e-02f, -2.68536538e-01f, -5.85860983e-02f, 2.03619704e-01f, -5.61414175e-02f,
+ 1.34975508e-01f, -1.11822002e-01f, 1.53545097e-01f, 9.06296168e-03f, -1.58604860e-01f, 5.07804677e-02f, 1.06137790e-01f, -6.93342928e-03f,
+ 1.86749294e-01f, 3.27470079e-02f, 3.92278656e-02f, -7.83681497e-02f, 3.22190523e-02f, 3.82627174e-02f, 5.37053943e-02f, -4.77349982e-02f,
+ -2.22352352e-02f, 2.01478507e-02f, -5.91660365e-02f, 7.27499351e-02f, -6.95847422e-02f, 1.41739905e-01f, 1.24061920e-01f, -4.96581905e-02f,
+ 8.87247100e-02f, 1.32743254e-01f, -1.30150821e-02f, 2.34068871e-01f, -4.49070409e-02f, 1.27025656e-02f, 8.53925198e-02f, -1.11345589e-01f,
+ 5.12318574e-02f, 7.65317259e-03f, -5.10738492e-02f, 4.19470295e-02f, 1.60481319e-01f, -1.70015782e-01f, 7.63856769e-02f, -1.48356870e-01f,
+ -5.30228950e-02f, -4.05184142e-02f, 1.30428770e-03f, -1.48763448e-01f, -6.56214426e-04f, -6.43196106e-02f, -9.50738788e-03f, 9.50815752e-02f,
+ -4.03683111e-02f, -1.68716505e-01f, 4.19946760e-03f, 1.74612537e-01f, -8.51804316e-02f, 1.39183000e-01f, 2.01137304e-01f, 2.28499062e-02f,
+ 5.53820394e-02f, 1.62426785e-01f, 1.64581407e-02f, 2.07610026e-01f, 2.39579573e-01f, -1.29467934e-01f, 1.99338511e-01f, 1.28989279e-01f,
+ -1.54314503e-01f, -7.92782903e-02f, 5.43501601e-02f, -4.16306406e-02f, 2.73426492e-02f, 2.42761046e-01f, -1.09604813e-01f, -7.91878477e-02f,
+ -5.73345600e-03f, 2.83365361e-02f, -5.93189299e-02f, -2.96744611e-02f, 5.82022630e-02f, 7.95909688e-02f, -5.73789626e-02f, -4.56899554e-02f,
+ 1.08490577e-02f, 3.27328444e-02f, -1.29982725e-01f, -9.66637433e-02f, -4.97321226e-02f, -5.06666675e-02f, -2.19953209e-02f, 2.28611846e-02f,
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+ -1.04372855e-02f, -1.14506111e-01f, -4.69688000e-03f, 8.28271508e-02f, 5.12125157e-02f, 9.87716988e-02f, -2.53777534e-01f, -8.23308006e-02f,
+ 9.67362598e-02f, 2.56627202e-02f, 2.09287226e-01f, 1.68399543e-01f, -2.84194183e-02f, -2.28163488e-02f, -8.43561217e-02f, -3.88222724e-01f,
+ -1.97766095e-01f, 5.49646281e-02f, 1.01558007e-01f, 2.80476332e-01f, 1.72097072e-01f, -6.10320494e-02f, -8.38539973e-02f, -2.46352851e-01f,
+ -1.15033515e-01f, 2.77540777e-02f, -3.42053100e-02f, -1.28363267e-01f, 5.21197505e-02f, 2.96592005e-02f, 1.13159761e-01f, 4.07583453e-02f,
+ 1.47614807e-01f, -5.87305427e-02f, 7.72211850e-02f, -2.87294183e-02f, 3.58400755e-02f, -2.95732934e-02f, 5.41640073e-02f, -6.91115633e-02f,
+ -1.55340768e-02f, -2.25049537e-02f, -3.88462543e-01f, -2.36735895e-01f, -1.79393217e-01f, 1.42010108e-01f, 2.41342559e-01f, 2.37160906e-01f,
+ 7.93188363e-02f, -3.01277284e-02f, -1.20898578e-02f, -2.73427963e-01f, -2.48401657e-01f, -1.44893184e-01f, 1.73700154e-01f, 1.43515438e-01f,
+ 1.05074562e-01f, -1.68373376e-01f, -2.12180123e-01f, -1.76030234e-01f, 4.63293381e-02f, 1.21534504e-01f, 3.78666334e-02f, -1.40007557e-02f,
+ -1.74856819e-02f, -1.87560841e-02f, 3.62175554e-02f, 1.01511799e-01f, -3.93882655e-02f, -4.25129831e-02f, 5.37384721e-03f, 1.40668780e-01f,
+ 3.96247767e-02f, 4.21360508e-02f, 1.84861511e-01f, -1.25807643e-01f, -5.86961471e-02f, -1.02553461e-02f, -2.63774097e-02f, 4.14310060e-02f,
+ 9.74904597e-02f, 5.42160906e-02f, 1.31933287e-01f, 1.38906837e-01f, -4.08829115e-02f, -1.59028739e-01f, -6.51060417e-02f, 1.58311240e-02f,
+ -2.50696912e-02f, 6.81475252e-02f, 4.63135988e-02f, -2.73722294e-03f, -5.62081747e-02f, -2.38357950e-02f, 2.75084209e-02f, 7.21539855e-02f,
+ -3.65228772e-01f, -3.11550230e-01f, -2.19221488e-01f, 3.00558895e-01f, 2.73801506e-01f, 2.96733856e-01f, -1.26955599e-01f, -2.34626122e-02f,
+ -2.43311059e-02f, 4.79009151e-02f, 1.50061131e-01f, 3.74924019e-02f, -2.09216196e-02f, 8.01575184e-03f, -7.22940713e-02f, 1.52616829e-01f,
+ 1.25898659e-01f, 4.80707325e-02f, -7.50943436e-04f, -4.45606224e-02f, -4.55139987e-02f, 2.94280257e-02f, -1.65427532e-02f, 6.61829710e-02f,
+ 6.97401986e-02f, 6.42427336e-03f, -6.81718811e-02f, 4.22428772e-02f, 8.74827206e-02f, 1.28565490e-01f, -7.64894485e-02f, -1.31442413e-01f,
+ -7.34494776e-02f, -1.45918429e-01f, -1.09388150e-01f, -7.40195019e-03f, -2.61364520e-01f, -1.53145939e-01f, -1.80596590e-01f, -1.04212463e-01f,
+ -6.78802505e-02f, -3.82247306e-02f, -8.68568718e-02f, -8.77671316e-02f, -4.81655961e-03f, 1.55708622e-02f, -2.08850615e-02f, -2.67254673e-02f,
+ -5.52163422e-02f, -3.50194834e-02f, -8.11392441e-02f, -1.27145345e-03f, -1.16554406e-02f, -8.32153559e-02f, -2.10971683e-01f, 1.68052800e-02f,
+ -1.16020888e-01f, -1.33009434e-01f, -1.21236645e-01f, -9.43364296e-03f, 1.70817114e-02f, -8.31462964e-02f, -4.15031426e-02f, -1.22611329e-01f,
+ 1.09790780e-01f, 6.29106387e-02f, -8.38083029e-02f, 2.52657440e-02f, 1.80553526e-01f, 8.09387043e-02f, 1.00512002e-02f, -6.34140894e-02f,
+ 1.31021133e-02f, -1.36232488e-02f, 8.97553265e-02f, -1.08494252e-01f, -1.41877338e-01f, -3.71847078e-02f, -9.71539393e-02f, 5.82889952e-02f,
+ -9.21903253e-02f, 2.96126418e-02f, -8.16776678e-02f, -4.52176332e-02f, 3.29023972e-02f, 4.43207473e-02f, -1.86706018e-02f, 7.12039694e-02f,
+ 8.35250467e-02f, 6.49743602e-02f, -6.09661005e-02f, -2.22997833e-02f, 8.81010816e-02f, -1.65378109e-01f, -1.01854391e-01f, -4.48695291e-03f,
+ -4.74552922e-02f, -7.50267580e-02f, -9.81684849e-02f, 1.35410819e-02f, -6.86884671e-02f, 2.95922272e-02f, -3.56080458e-02f, 6.61417544e-02f,
+ 2.37011671e-01f, 2.67712749e-03f, -2.88320780e-02f, -2.85559110e-02f, -1.26433829e-02f, -1.10774808e-01f, -5.24423504e-03f, -2.79591799e-01f,
+ -1.37022972e-01f, -1.06436975e-01f, -3.28154832e-01f, -8.53966102e-02f, -1.71053633e-01f, 4.09060568e-02f, 7.54301399e-02f, 2.95592517e-01f,
+ -1.90502405e-02f, 2.73948431e-01f, 3.76750588e-01f, -9.84237045e-02f, 3.65201324e-01f, 4.88048136e-01f, -5.00233993e-02f, 8.64611752e-03f,
+ 1.96072623e-01f, -8.47414732e-02f, 2.85166889e-01f, 2.55841821e-01f, -1.01632081e-01f, 3.17554712e-01f, 3.09258401e-01f, -3.13662700e-02f,
+ 2.18057167e-02f, 4.20452617e-02f, -7.64726326e-02f, -5.82503639e-02f, -7.97945261e-02f, 3.98556963e-02f, 6.34281039e-02f, -8.00149366e-02f,
+ 1.21615753e-02f, -3.59017067e-02f, -7.25457072e-02f, 1.09057941e-01f, 1.10662460e-01f, 1.68355659e-01f, 1.05639808e-01f, -5.30572385e-02f,
+ 3.02584656e-02f, -1.40884191e-01f, -2.89711934e-02f, 5.96971847e-02f, 5.12385089e-03f, 1.72539875e-02f, 1.66001618e-01f, -2.42451742e-01f,
+ 1.58423528e-01f, 1.09846368e-01f, 2.43624928e-03f, -1.44401994e-02f, -2.82187760e-02f, -8.31096470e-02f, -7.54490048e-02f, 3.62839699e-02f,
+ -5.08370623e-02f, 4.72603850e-02f, -2.36001015e-02f, 5.96502759e-02f, 3.82096581e-02f, -2.61103082e-03f, 8.34754407e-02f, 4.12924923e-02f,
+ -2.69093607e-02f, 9.40540880e-02f, -5.23327775e-02f, 3.06692034e-01f, -1.22054040e-01f, -5.48545197e-02f, 1.76734209e-01f, -1.18717991e-01f,
+ 1.27588809e-01f, 1.61252245e-01f, -2.11464152e-01f, 3.69465500e-01f, 1.87425077e-01f, 7.30802305e-03f, 2.33832449e-02f, 5.36324196e-02f,
+ -2.21724197e-01f, -9.65147093e-02f, -1.21365257e-01f, -2.53048986e-01f, -5.96772172e-02f, -1.63033575e-01f, -9.48017985e-02f, 5.98549545e-02f,
+ 8.08460861e-02f, -1.34428546e-01f, 2.00546429e-01f, 1.84962943e-01f, -1.18637020e-02f, 3.47605795e-01f, 3.04411650e-01f, -1.46462917e-01f,
+ 1.30724370e-01f, 2.02467516e-01f, 3.99164408e-02f, 9.32120755e-02f, 2.73233473e-01f, -1.63328741e-02f, 3.00387383e-01f, 2.43403628e-01f
+};
+
+const float features_6_bias[24] = {
+ 2.27375105e-02f, -6.11031987e-02f, -9.86426137e-03f, 6.66437224e-02f, 7.27693513e-02f, 9.71539989e-02f, 2.98143804e-01f, -1.68986842e-02f,
+ -3.04643303e-01f, -5.55308163e-02f, 5.25571518e-02f, 6.79514930e-02f, -1.04367822e-01f, -1.84113104e-02f, 9.02135819e-02f, 7.97064826e-02f,
+ 1.31746471e-01f, 9.38143805e-02f, 9.75554734e-02f, 3.78360711e-02f, -1.96476966e-01f, 6.60421625e-02f, 1.22586586e-01f, 6.45132810e-02f
+};
+
+const float head_1_weight[64][144] = {
+ 1.26187041e-01f, -1.25035509e-01f, -3.46159227e-02f, -1.22667290e-01f, -1.38306357e-02f, 6.41760156e-02f, 1.78122299e-03f, 8.05698335e-03f,
+ 1.25011489e-01f, -9.37044993e-02f, 5.24463765e-02f, -3.05508494e-01f, -4.95639704e-02f, 1.04523428e-01f, 1.13097750e-01f, 1.35961950e-01f,
+ 1.58350304e-01f, -4.47794199e-02f, 1.62124250e-03f, 1.30101040e-01f, -8.83018877e-03f, -2.42278036e-02f, 1.00685827e-01f, 4.01135013e-02f,
+ 2.94897966e-02f, 1.22480795e-01f, 1.69080913e-01f, 1.81480013e-02f, 4.61022668e-02f, -5.45695983e-02f, -4.53360304e-02f, 1.38867535e-02f,
+ 9.31822285e-02f, -4.97925915e-02f, 9.14168656e-02f, 4.61491495e-02f, 5.45596816e-02f, -1.78555205e-01f, -7.95410126e-02f, 4.16138470e-01f,
+ -8.11687186e-02f, -2.97388472e-02f, -3.90383713e-02f, 4.67719510e-02f, 4.65797726e-03f, -7.13576153e-02f, 1.88346416e-01f, 2.12717708e-02f,
+ -2.37322271e-01f, -7.33427331e-02f, 1.18302882e-01f, 1.06474206e-01f, -7.30207413e-02f, 2.28317939e-02f, 1.09017283e-01f, 7.73228239e-04f,
+ 1.27273396e-01f, -8.62722695e-02f, 1.97935607e-02f, -1.43922409e-02f, -2.66081005e-01f, 1.90446854e-01f, -3.34620416e-01f, -2.81752765e-01f,
+ 7.98233300e-02f, 2.53818095e-01f, -7.20236301e-02f, 2.76080379e-03f, -8.70993584e-02f, -9.35733393e-02f, 7.22055361e-02f, 1.14219926e-01f,
+ 5.81710674e-02f, -2.04558540e-02f, 7.87269175e-02f, -3.96338105e-02f, 9.20267478e-02f, 2.86667775e-02f, 6.71261773e-02f, -7.23715220e-03f,
+ 2.46465523e-02f, 7.99507126e-02f, 3.97885926e-02f, 1.38483062e-01f, 2.39737034e-02f, 1.14856094e-01f, 4.02658060e-02f, -1.43803343e-01f,
+ 1.31923273e-01f, -2.17994116e-02f, -4.03906286e-01f, -3.98540616e-01f, 1.74841121e-01f, -2.79387712e-01f, -8.83476362e-02f, 2.14840621e-01f,
+ 3.27642187e-02f, -1.09364286e-01f, -2.32732698e-01f, 3.85970294e-01f, -5.63714020e-02f, -1.85529381e-01f, -7.83566460e-02f, -9.03692544e-02f,
+ 1.18794866e-01f, -1.19310133e-02f, -5.04778363e-02f, 3.03055309e-02f, -1.76897064e-01f, 2.18430564e-01f, -1.26664445e-01f, 8.70951638e-02f,
+ 6.07702322e-02f, 3.61839652e-01f, 1.01901680e-01f, -1.27874032e-01f, 6.98608309e-02f, 1.01587689e-02f, -6.73057288e-02f, 5.79493083e-02f,
+ 1.61278322e-01f, -2.20292464e-01f, 4.80730981e-02f, -1.77565422e-02f, -6.54921606e-02f, 1.33567348e-01f, -2.01904271e-02f, -5.85599616e-02f,
+ 7.40085691e-02f, -6.57934621e-02f, 5.16638495e-02f, 3.53354141e-02f, 1.01734482e-01f, 3.62556130e-02f, 6.11886382e-02f, 4.68620248e-02f,
+ -4.65814732e-02f, -7.00134635e-02f, 1.95114434e-01f, -7.65414769e-03f, 2.15151459e-02f, 3.47445086e-02f, 8.90650749e-02f, 1.49790302e-01f,
+ 1.42020389e-01f, 8.39149952e-03f, -2.38157541e-01f, -1.28723979e-01f, 5.41967340e-02f, 3.23640145e-02f, -1.77501887e-01f, 2.92506546e-01f,
+ -1.54359387e-02f, 2.90031999e-01f, 8.79603904e-03f, 4.36381847e-01f, -3.66596609e-01f, 5.88905990e-01f, -5.02022207e-01f, 1.46894738e-01f,
+ -3.17295790e-01f, 2.37822264e-01f, -9.71198902e-02f, 1.69846043e-01f, -3.44236374e-01f, 3.85875702e-01f, -2.83426344e-01f, -1.77327043e-03f,
+ -1.32589981e-01f, 3.07012916e-01f, -1.33602336e-01f, 1.01040199e-01f, 9.24487859e-02f, 1.26872644e-01f, -6.54074550e-02f, 5.02925329e-02f,
+ -3.52020599e-02f, -1.49201989e-01f, -1.19533353e-01f, 4.04050872e-02f, 1.16803750e-01f, -1.00267068e-01f, -4.43979740e-01f, -1.87665910e-01f,
+ 4.23753336e-02f, -1.35476783e-01f, -7.80283213e-02f, -1.24910474e-02f, -2.23862957e-02f, 6.12102188e-02f, -1.68842614e-01f, 1.49915129e-01f,
+ -2.24524811e-02f, 2.38318637e-01f, 1.46301627e-01f, -2.84656137e-01f, -1.44170120e-01f, 1.57208160e-01f, 1.32019058e-01f, -5.58152534e-02f,
+ 6.81941397e-03f, 4.76132967e-02f, -7.39390636e-03f, 1.43411443e-01f, 2.81213343e-01f, -1.13223113e-01f, -1.01640048e-02f, -4.20512520e-02f,
+ -1.26325041e-01f, -1.10039234e-01f, 2.79334537e-03f, 5.62564135e-02f, -1.41830683e-01f, 2.43635431e-01f, -2.39255816e-01f, -6.94358051e-02f,
+ 4.06304263e-02f, 3.51614170e-02f, -1.05502039e-01f, 4.24714535e-02f, -6.61064982e-02f, 2.27238700e-01f, -2.51050055e-01f, 4.39362943e-01f,
+ -2.42571294e-01f, 3.52552742e-01f, -1.78205237e-01f, 1.19855888e-01f, 8.74436870e-02f, 8.74662623e-02f, -2.63525933e-01f, 2.04301685e-01f,
+ -1.41121134e-01f, 5.66112548e-02f, 2.63857126e-01f, -3.50183770e-02f, 3.50303091e-02f, 5.62712271e-03f, -7.43441209e-02f, 8.06031898e-02f,
+ 7.50427768e-02f, -6.47799224e-02f, -2.37715274e-01f, 1.94935933e-01f, 7.40664303e-02f, 7.21658068e-03f, -2.47195140e-01f, 2.28823155e-01f,
+ -7.29645565e-02f, -7.88573474e-02f, -1.53702125e-01f, 1.86012685e-01f, 1.09893858e-01f, 1.18082985e-01f, -3.27071458e-01f, 5.47581255e-01f,
+ -7.89236546e-01f, 3.26637715e-01f, 9.04459059e-02f, -4.99848723e-02f, -2.37056203e-02f, -7.15526119e-02f, -4.13376614e-02f, 3.69204730e-02f,
+ 1.95410281e-01f, 8.76302198e-02f, -1.99355395e-03f, 2.97238767e-01f, -9.32929292e-03f, -6.48567528e-02f, 6.74914792e-02f, 4.93756076e-03f,
+ -2.51489967e-01f, 7.21276924e-02f, -1.08645454e-01f, 1.90615147e-01f, -3.69784888e-03f, 7.94663839e-03f, 4.68845330e-02f, 1.32233799e-01f,
+ -1.80050358e-01f, -3.73433456e-02f, -5.92501238e-02f, 2.85807461e-01f, -1.40328780e-01f, 1.77462459e-01f, -2.55475104e-01f, 1.09735027e-01f,
+ 7.39921108e-02f, -1.03131033e-01f, -8.13867748e-02f, 1.38569698e-01f, 2.24406704e-01f, -1.01546243e-01f, -7.60406703e-02f, -2.43342608e-01f,
+ 1.98674396e-01f, -1.89363584e-01f, 2.79630274e-01f, -6.19822256e-02f, -4.11944866e-01f, -4.06477809e-01f, 2.02117994e-01f, -3.68351847e-01f,
+ 2.17837580e-02f, -1.49994552e-01f, -2.19715945e-02f, -1.83163449e-01f, 9.61709395e-02f, -2.41567437e-02f, 3.52062523e-01f, -7.35165402e-02f,
+ -3.47577594e-02f, -2.03742608e-01f, 1.01358637e-01f, -1.26666844e-01f, 2.99659610e-01f, -1.34647205e-01f, -9.00556054e-03f, -6.15821891e-02f,
+ 1.42589241e-01f, 3.45930494e-02f, 1.79218739e-01f, -3.51169556e-02f, 1.79123387e-01f, 1.16391838e-01f, 3.20036672e-02f, 1.77963123e-01f,
+ 1.04556546e-01f, 1.64168537e-01f, -1.01799192e-02f, -1.23450547e-01f, 2.49041334e-01f, -2.31009200e-01f, 1.66081563e-01f, -1.47704497e-01f,
+ 2.73357611e-02f, -1.42838225e-01f, 9.10455659e-02f, -3.06940734e-01f, 1.28270611e-01f, -1.27948483e-03f, 9.43884254e-02f, 1.21936174e-02f,
+ 1.36081457e-01f, -6.11217208e-02f, 2.40095519e-02f, -2.99674004e-01f, 3.71530533e-01f, 3.59569490e-01f, 8.34537148e-02f, 4.97498699e-02f,
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+ -7.95078576e-02f, 5.72572537e-02f, 9.34040733e-03f, -4.09413613e-02f, -1.53199211e-02f, -1.34644276e-02f, 1.33167664e-02f, 4.48037051e-02f,
+ -7.23359585e-02f, 1.09751433e-01f, 6.48029223e-02f, -7.91090727e-02f, -7.06402063e-02f, 1.38506129e-01f, -6.01827390e-02f, -5.50430380e-02f,
+ -2.02674344e-02f, 6.07185625e-02f, -1.13119408e-01f, -7.27070775e-03f, -4.61940542e-02f, -3.14388648e-02f, -1.55311912e-01f, 1.49403796e-01f,
+ 2.30417132e-01f, -5.57303093e-02f, 2.31266487e-02f, 6.78588748e-02f, -7.75200501e-02f, 2.62176376e-02f, -1.19366489e-01f, 3.77841704e-02f,
+ -2.23455071e-01f, -3.84563319e-02f, 1.52882330e-05f, -5.35332710e-02f, -1.05161302e-01f, 7.77752697e-02f, 1.14648618e-01f, 1.38261333e-01f,
+ -5.17046824e-02f, 3.49903405e-02f, -5.86655587e-02f, -1.13709345e-02f, -1.43460825e-01f, 1.76255207e-03f, 5.33671118e-02f, -4.19140533e-02f,
+ 2.45230366e-03f, -5.64099886e-02f, -1.00429719e-02f, 1.99417949e-01f, -2.27031216e-01f, 2.19628457e-02f, -1.06863007e-01f, 1.90744493e-02f,
+ 7.75472447e-02f, -5.78164645e-02f, -2.40699071e-02f, 1.19368650e-03f, -1.92467356e-03f, -7.86626637e-02f, -1.22685675e-02f, 2.38475669e-02f,
+ 1.65963806e-02f, 3.03402971e-02f, -1.32806841e-02f, 1.24732517e-01f, -8.94315541e-03f, -2.82514960e-01f, -5.41612245e-02f, 7.01289847e-02f,
+ -1.15794845e-01f, -3.20170373e-02f, 6.73069581e-02f, -2.86172843e-03f, -1.56667680e-01f, 2.20959559e-02f, 1.31078571e-01f, 1.55100077e-01f,
+ -2.58950051e-04f, 1.19811893e-01f, -1.07618116e-01f, -4.59453799e-02f, -1.29637076e-02f, 2.75838543e-02f, 2.98031000e-03f, -2.18624361e-02f,
+ -3.30846049e-02f, 1.08862773e-01f, -1.00727156e-01f, -5.40106930e-02f, 1.33549139e-01f, 1.15773812e-01f, -2.29847893e-01f, -6.97385818e-02f,
+ 1.13624796e-01f, -1.18095830e-01f, 2.89595816e-02f, 1.41274869e-01f, -2.30227709e-01f, 3.01936805e-01f, -8.11680704e-02f, -2.81058047e-02f,
+ -1.23276509e-01f, 5.28766913e-03f, 1.98076397e-01f, -6.86758459e-02f, 2.74268687e-01f, -1.78297967e-01f, 8.45196284e-03f, -1.54145181e-01f,
+ -1.31362215e-01f, -2.25131325e-02f, -1.94087774e-02f, 4.58557121e-02f, 1.04637243e-01f, 2.55520698e-02f, 1.09732747e-01f, 8.26037452e-02f,
+ -2.03751829e-02f, 3.53639185e-01f, -5.90594262e-02f, 1.65373340e-01f, 1.74945761e-02f, 4.60520163e-02f, 5.49810119e-02f, 9.81189869e-03f,
+ -5.58361262e-02f, 2.71540195e-01f, 3.59195620e-02f, 2.27689296e-01f, 4.20000777e-02f, 1.37679800e-01f, 8.84414241e-02f, 4.87594642e-02f,
+ -1.60144389e-01f, 4.60054688e-02f, -3.57190482e-02f, -3.93261798e-02f, 9.68285948e-02f, 1.28957093e-01f, -1.01366900e-01f, 6.63484707e-02f,
+ 1.82243939e-02f, 1.25675648e-01f, 8.73245075e-02f, -1.03483975e-01f, -1.05912223e-01f, -9.12525728e-02f, 1.86628252e-02f, -1.04551092e-01f,
+ 2.40036339e-01f, -9.59650427e-02f, -5.49523868e-02f, 2.16360837e-02f, 5.88785112e-03f, 1.23918168e-02f, -9.99824032e-02f, -1.40241638e-01f,
+ -9.90800485e-02f, -8.58338997e-02f, -6.53695911e-02f, -2.19171390e-01f, 1.93932001e-03f, -8.50323290e-02f, 1.61914393e-01f, 1.58249974e-01f,
+ 2.30880886e-01f, 1.20490216e-01f, -2.52050422e-02f, -1.85155328e-02f, 8.08650162e-03f, 1.59637090e-02f, 5.36109768e-02f, 1.38437971e-01f,
+ -1.78506970e-01f, -1.95234828e-02f, -1.51954651e-01f, -1.90244153e-01f, -4.94968742e-02f, -1.91898551e-02f, 2.04663854e-02f, -1.49222553e-01f,
+ -1.94250774e-02f, -9.67153758e-02f, -1.49270939e-02f, 2.90174991e-01f, 9.87037346e-02f, -2.22761966e-02f, 4.50813137e-02f, 4.29494917e-01f,
+ -1.54304847e-01f, 9.27318409e-02f, -2.98608113e-02f, -2.20168248e-01f, 1.99170206e-02f, 8.37470293e-02f, 9.62840244e-02f, 9.77074951e-02f,
+ -3.01800072e-01f, -7.27406070e-02f, -2.10276127e-01f, 1.32243946e-01f, -1.77092925e-01f, -7.50305429e-02f, -2.38452815e-02f, -1.27092451e-01f,
+ 3.42159197e-02f, -3.52447219e-02f, -3.73342223e-02f, 9.96017158e-02f, -1.55944064e-01f, 2.21918747e-01f, 7.93973655e-02f, -1.88892141e-01f,
+ 3.78839672e-02f, 2.39663497e-01f, 5.79601005e-02f, -1.09022692e-01f, 3.49677354e-02f, -2.25284755e-01f, 7.08952695e-02f, 1.07729591e-01f,
+ -1.43965043e-03f, -2.09645048e-01f, -2.13270430e-02f, 1.78786870e-02f, -7.82522261e-02f, 1.40304923e-01f, 3.31947510e-03f, -1.54365465e-01f,
+ 1.39920965e-01f, -1.14946149e-01f, 1.17339715e-01f, 1.83942541e-01f, -1.58088475e-01f, -3.61780465e-01f, 3.57617438e-02f, 1.08072899e-01f,
+ 1.37686819e-01f, 1.57767206e-01f, -3.66755188e-01f, -2.65963137e-01f, 3.16538870e-01f, -1.72289997e-01f, 3.81400064e-02f, 1.99277222e-01f,
+ 1.82500049e-01f, -1.38973752e-02f, -1.14950880e-01f, 1.66659102e-01f, -3.21172684e-01f, -2.41131755e-03f, -1.10338867e-01f, -4.54854742e-02f,
+ 1.03754606e-02f, 8.23247656e-02f, 2.26237878e-01f, -1.22542097e-03f, 1.11683369e-01f, -6.87301363e-05f, 5.73456287e-02f, 1.84807535e-02f,
+ 2.19745785e-01f, 7.96123967e-02f, -8.81500021e-02f, -8.31733868e-02f, 5.79846986e-02f, -6.38862923e-02f, 7.64791667e-02f, -6.98595718e-02f,
+ 5.72860204e-02f, -3.49839866e-01f, 4.11820821e-02f, -1.98591098e-01f, -1.29384324e-01f, 1.43840939e-01f, 1.34955058e-02f, -9.61096361e-02f,
+ 1.07756145e-02f, 3.61126848e-02f, -5.51605504e-03f, 2.02562094e-01f, 5.49150817e-02f, -1.65381357e-01f, 1.29592508e-01f, 3.42228711e-02f,
+ -3.65769230e-02f, -8.83198828e-02f, -1.41450062e-01f, 2.69474685e-01f, 1.58881500e-01f, -2.60621738e-02f, 1.26491450e-02f, 2.39387885e-01f,
+ -2.78878701e-03f, -1.43295089e-02f, 3.69388349e-02f, -7.87584390e-03f, 5.44998124e-02f, 4.50647958e-02f, 5.45203360e-03f, 4.58259620e-02f,
+ 1.02144992e-02f, -9.73189622e-02f, 6.50743991e-02f, -7.63052842e-03f, -2.70435680e-02f, 5.13606407e-02f, 5.45307919e-02f, -8.36075097e-02f,
+ 1.71240624e-02f, -6.00765422e-02f, -4.17652912e-02f, -2.61271419e-03f, -5.11643738e-02f, -5.55421375e-02f, 2.14928631e-02f, -4.00443338e-02f,
+ 1.05470084e-02f, 5.87430187e-02f, -1.01048697e-03f, -1.91222673e-04f, 5.26339337e-02f, -4.19644825e-02f, -2.00200900e-02f, -9.69416797e-02f,
+ -5.53677045e-02f, -2.62669828e-02f, 5.55482879e-02f, 2.71070730e-02f, -3.71672846e-02f, -4.55199406e-02f, -3.79277617e-02f, -5.23408614e-02f,
+ -7.23747611e-02f, -3.16413641e-02f, -4.60454747e-02f, 4.05778848e-02f, 1.23084048e-02f, -2.95011811e-02f, -3.51977460e-02f, -1.24883959e-02f,
+ 4.35465798e-02f, 2.33465042e-02f, -4.21272442e-02f, 1.00392522e-02f, -2.19972190e-02f, -7.86015689e-02f, -8.19195434e-02f, -2.00694147e-02f,
+ 5.25870472e-02f, -5.18774949e-02f, 4.07997072e-02f, -3.68921980e-02f, 3.92384566e-02f, -2.97753662e-02f, -8.41583312e-02f, -2.45530400e-02f,
+ -1.09713851e-02f, -8.97712186e-02f, -2.54555400e-02f, -2.22951523e-03f, -4.87581128e-03f, 6.09686561e-02f, -9.28715095e-02f, 5.10576777e-02f,
+ 2.48577353e-02f, -9.81639326e-02f, -5.00481427e-02f, 9.74158943e-03f, -9.33345854e-02f, 6.41509071e-02f, -5.21561541e-02f, 1.10335872e-02f,
+ -4.18248167e-03f, -5.25505058e-02f, -9.91469920e-02f, -1.47316540e-02f, -8.70139226e-02f, -3.57447378e-02f, -3.66075546e-03f, -5.03910221e-02f,
+ 2.81287543e-02f, -9.57387537e-02f, -1.06910214e-01f, -8.42895079e-03f, -7.84074813e-02f, 2.96661519e-02f, -3.03726420e-02f, -2.58074757e-02f,
+ 6.14434928e-02f, -2.76509114e-02f, -8.32224712e-02f, -5.14260493e-02f, 9.23419278e-03f, 4.04424742e-02f, 5.21024354e-02f, -4.94434163e-02f,
+ -8.36659316e-03f, 3.99560668e-02f, -5.46508320e-02f, -1.50446286e-02f, -5.47113828e-02f, -1.09878730e-03f, 6.91970885e-02f, 5.84477521e-02f,
+ -6.75258711e-02f, 2.82209665e-02f, 5.85786179e-02f, -3.47714163e-02f, 1.70089640e-02f, -9.16504338e-02f, 2.89083440e-02f, -3.39539126e-02f,
+ 7.64876902e-02f, 1.02516050e-02f, -6.21547885e-02f, -5.64310066e-02f, -1.03606857e-01f, -8.08931291e-02f, -9.56864879e-02f, 1.99247692e-02f,
+ 3.59052308e-02f, -6.67855069e-02f, 3.74615081e-02f, -4.67904471e-02f, 4.65960894e-03f, 4.95789275e-02f, 4.40426655e-02f, -8.68892968e-02f,
+ 1.25355041e-02f, -6.19369149e-02f, -9.18914080e-02f, -2.41868589e-02f, -3.91515866e-02f, -3.13900458e-03f, -1.07255541e-02f, 2.79744957e-02f
+};
+
+const float head_1_bias[64] = {
+ 7.60583133e-02f, -1.95871904e-01f, 1.56706721e-01f, -1.10724330e-01f, 2.18495913e-02f, -1.31301302e-02f, -5.82534820e-02f, 2.85576940e-01f,
+ 5.14298193e-02f, 4.80707772e-02f, 5.58575466e-02f, -6.91547524e-03f, 2.26967692e-01f, 1.38333097e-01f, 6.21551313e-02f, -1.41960103e-02f,
+ -9.20257866e-02f, 8.38413760e-02f, -8.21158737e-02f, -2.62059979e-02f, -1.54043296e-02f, 3.02977674e-02f, 1.45275090e-02f, -5.48527390e-02f,
+ -3.45567614e-02f, -2.17954367e-02f, -6.58490583e-02f, -4.34577949e-02f, -5.46127707e-02f, 1.25611603e-01f, -9.43534225e-02f, 3.85937318e-02f,
+ 2.44935625e-03f, 3.75105417e-03f, -9.55891609e-02f, 2.84060478e-01f, -7.46111423e-02f, 9.58865583e-02f, 5.48468865e-02f, -6.34679571e-02f,
+ 4.07927893e-02f, -5.83466850e-02f, 3.80036980e-02f, 1.06044635e-01f, 2.99654901e-02f, -3.28954868e-02f, -1.48558700e-02f, -2.82585442e-01f,
+ 2.93103456e-02f, -2.25732401e-02f, 6.88187853e-02f, -2.58639852e-06f, -8.71156156e-02f, -4.54408675e-02f, 2.62275003e-02f, 9.15428549e-02f,
+ 1.37632508e-02f, -1.14865474e-01f, -9.68742818e-02f, 2.18883902e-01f, 5.99919111e-02f, -1.17947392e-01f, 1.97411016e-01f, 5.10322116e-02f
+};
+
+const float head_3_weight[32][64] = {
+ 1.89446792e-01f, 1.95511386e-01f, -9.45847780e-02f, 1.27357587e-01f, -2.12247521e-02f, -3.06070715e-01f, -1.12600304e-01f, 7.36177415e-02f,
+ 3.33989322e-01f, 2.59040356e-01f, 3.30323398e-01f, -6.60065264e-02f, 2.52366096e-01f, 1.52811244e-01f, 1.24732547e-01f, -6.34391382e-02f,
+ 6.01489656e-02f, -1.06267579e-01f, 4.32961956e-02f, -1.56629220e-01f, -1.93567723e-02f, 3.42229009e-02f, -2.46275291e-02f, 1.34307155e-02f,
+ -3.37677971e-02f, 3.39498185e-02f, 3.61144662e-01f, 4.19383824e-01f, 7.17350066e-01f, 5.25799692e-02f, -1.88082941e-02f, 6.17736503e-02f,
+ -1.11884261e-02f, 2.44570658e-01f, 8.97975117e-02f, -1.19241811e-01f, -3.65280244e-03f, -8.11751038e-02f, 4.99313593e-01f, 1.33463621e-01f,
+ 1.61788672e-01f, 3.52017842e-02f, -1.27676591e-01f, -8.59729275e-02f, 3.06324046e-02f, 6.04757061e-03f, 6.07519113e-02f, 2.56503999e-01f,
+ -2.46740490e-01f, -3.71296816e-02f, -8.52235854e-02f, 1.72364432e-02f, 1.61251605e-01f, -8.66628364e-02f, -1.10201754e-01f, 3.72368217e-01f,
+ -1.03612607e-02f, -8.85484517e-02f, -8.75178874e-02f, -1.52193224e-02f, -5.81564344e-02f, -2.39560515e-01f, 1.22645319e-01f, -6.21384792e-02f,
+ 7.48620555e-02f, -2.27506861e-01f, -2.50205040e-01f, -1.43397497e-02f, -1.34926513e-02f, -1.06708184e-01f, -9.23509598e-02f, 1.17446542e-01f,
+ 1.24507628e-01f, 9.10176523e-03f, 3.56382787e-01f, 3.58728133e-02f, 8.95977244e-02f, 4.07927930e-02f, -2.66845943e-03f, 4.18585949e-02f,
+ 6.07395321e-02f, 8.57575387e-02f, 1.04180902e-01f, 1.83691502e-01f, -2.60799471e-02f, 7.74694309e-02f, -1.34030301e-02f, 1.23593308e-01f,
+ -3.42854485e-02f, 8.27140883e-02f, 3.33332717e-01f, 3.93948257e-01f, 8.22256446e-01f, 1.05897613e-01f, -6.72016218e-02f, 3.68339956e-01f,
+ 5.85362576e-02f, 8.51405133e-03f, 3.83439034e-01f, -2.05575451e-01f, -7.35527948e-02f, -9.19016544e-03f, 1.94092765e-01f, 3.35101038e-02f,
+ -9.82614011e-02f, -8.83676112e-02f, 1.67038217e-01f, -5.86063229e-03f, -3.64987813e-02f, -2.50781495e-02f, 8.33199844e-02f, 2.89617598e-01f,
+ 2.55495459e-01f, 2.65481412e-01f, 1.47087902e-01f, 2.34604161e-02f, -2.64259726e-02f, -1.63922049e-02f, -1.01853579e-01f, 1.69277593e-01f,
+ 5.47098368e-02f, 5.98840378e-02f, -6.84948266e-02f, 1.05460495e-01f, -4.30893749e-02f, -2.06561852e-02f, -8.05450678e-02f, -5.52067943e-02f,
+ -5.77536762e-01f, 3.93085122e-01f, 3.34308624e-01f, 9.15284306e-02f, -3.29601020e-01f, -4.30839032e-01f, 6.65530041e-02f, 3.01174641e-01f,
+ -3.30481410e-01f, -6.68654978e-01f, -5.84779024e-01f, -7.14543387e-02f, 7.18102679e-02f, 1.29043132e-01f, -1.22489572e-01f, -1.29799396e-02f,
+ -2.04283893e-02f, 1.03156744e-02f, -2.00253814e-01f, -5.38436711e-01f, -9.65847522e-02f, 6.41978160e-02f, 1.87085960e-02f, -6.23809844e-02f,
+ -3.96940894e-02f, 8.47496688e-02f, 8.77986029e-02f, -1.91503927e-01f, -4.58431356e-02f, 1.75276786e-01f, 2.65898574e-02f, -3.49939585e-01f,
+ -3.11617911e-01f, -1.40243128e-01f, -4.97339517e-02f, 1.32927839e-02f, -1.21627189e-03f, 2.05088735e-01f, -5.03165364e-01f, 4.70132083e-02f,
+ -1.65681019e-01f, 1.11390904e-01f, 6.86492100e-02f, -3.71704042e-01f, -9.30995047e-02f, 9.02538374e-02f, -5.98415911e-01f, -7.94300199e-01f,
+ -3.21573973e-01f, -1.86935410e-01f, 1.13653958e-01f, 6.53026477e-02f, -3.75939429e-01f, 7.51996338e-02f, -5.31136543e-02f, -2.48937130e-01f,
+ 2.45980814e-01f, 5.06187370e-03f, 1.24563731e-01f, 1.98406950e-01f, 2.58870535e-02f, 7.87894055e-02f, -3.19062531e-01f, 1.91061944e-02f,
+ 1.40777022e-01f, 6.61834776e-02f, -1.39527828e-01f, -6.59558624e-02f, 7.46428668e-02f, 1.72275212e-02f, 9.25769955e-02f, -9.65945944e-02f,
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+ 5.87232299e-02f, -1.37546305e-02f, -2.45992020e-01f, -2.69355085e-02f, 5.05502820e-02f, -9.98583436e-02f, 2.26637209e-03f, -2.03590646e-01f,
+ 1.57998264e-01f, -1.58062458e-01f, -2.40449142e-02f, -1.13783047e-01f, 6.08716868e-02f, -1.61482826e-01f, -4.88896295e-02f, -1.65203810e-02f,
+ 5.89825213e-02f, -3.62611301e-02f, 6.86677992e-02f, -2.04290878e-02f, 9.19455513e-02f, 1.42025640e-02f, 1.05366245e-01f, 9.72789526e-02f,
+ -1.04762807e-01f, -3.95538807e-02f, 1.12225786e-01f, 4.14351791e-01f, 3.51971537e-01f, -2.02554211e-01f, 1.06842004e-01f, 2.60409474e-01f,
+ -1.66740522e-01f, -1.10990748e-01f, -9.20893252e-02f, -1.47666931e-01f, 2.42430121e-02f, -2.87463306e-03f, -9.31339860e-02f, 1.27100386e-03f,
+ 8.85566995e-02f, 1.65099949e-02f, -4.03809845e-02f, 2.10160832e-03f, 1.19377963e-01f, -2.98681129e-02f, 7.49281347e-02f, -3.01514473e-02f,
+ -1.56275611e-02f, -1.06318042e-01f, 1.31262327e-02f, -8.95192325e-02f, 8.99530351e-02f, -4.92193997e-02f, 3.17550004e-02f, 7.32327253e-03f,
+ -2.21619010e-02f, -1.08649740e-02f, 1.18796378e-01f, -1.87134817e-01f, -2.16463450e-02f, 1.87788755e-02f, 1.76549152e-01f, 5.08175790e-02f,
+ -1.32266253e-01f, -8.40120092e-02f, -1.23060733e-01f, -6.17240816e-02f, -3.11269443e-02f, -6.54122084e-02f, 4.73175235e-02f, -2.50343941e-02f,
+ -3.99360107e-03f, 1.79724619e-02f, -5.45221614e-03f, -1.35933116e-01f, 2.64012953e-03f, 2.43579727e-02f, 2.70656571e-02f, 8.96804333e-02f,
+ -6.76299930e-02f, -5.08405156e-02f, -1.32346109e-01f, -1.32985920e-01f, -9.41310823e-02f, 4.54084761e-02f, -8.25647265e-02f, 4.19334322e-02f,
+ 8.17803219e-02f, 4.46185172e-02f, -6.56488836e-02f, 7.98026025e-02f, 4.58176583e-02f, 2.48130457e-03f, -3.62808369e-02f, 8.12800825e-02f,
+ 3.79886739e-02f, -4.00419831e-02f, 5.75963706e-02f, -1.18663415e-01f, -1.08177215e-02f, -1.21425048e-01f, -1.11443371e-01f, 1.01714194e-01f,
+ -1.04509359e-02f, -4.23986465e-02f, -8.84146839e-02f, -4.79148179e-02f, -3.99270728e-02f, -2.60924473e-02f, 2.71392968e-02f, 3.95033322e-02f,
+ 5.61505780e-02f, -8.97226930e-02f, -6.30071983e-02f, 8.35750531e-03f, -9.15296972e-02f, 1.11722708e-01f, -8.03747624e-02f, 9.55088735e-02f,
+ -1.94889810e-02f, 1.13150060e-01f, 8.16441178e-02f, -1.06430389e-02f, 1.11724339e-01f, -5.33850444e-03f, 2.53584534e-02f, -4.67368215e-02f,
+ -1.46186262e-01f, -2.38743648e-01f, -1.45459175e-01f, 7.52131641e-02f, 3.97845283e-02f, -5.09823412e-02f, 1.28058359e-01f, -4.49670181e-02f,
+ 1.93777889e-01f, 1.14765786e-01f, 7.59354457e-02f, -9.56801102e-02f, 2.79980302e-01f, 9.35836509e-02f, 4.04206365e-02f, -7.00999498e-02f,
+ -5.45384269e-03f, 2.27629155e-01f, -8.72788802e-02f, 2.17351496e-01f, -3.73119004e-02f, 1.80540308e-01f, -6.60763979e-02f, -7.60862231e-02f,
+ 2.11209692e-02f, -8.28114990e-03f, 2.86516011e-01f, 6.65071011e-01f, 6.51516676e-01f, 8.97263288e-02f, 5.46312705e-02f, 3.53501499e-01f,
+ -1.01574637e-01f, -8.37776586e-02f, 4.49587822e-01f, 6.01115413e-02f, 3.57932001e-02f, 1.46700935e-02f, 3.20907503e-01f, -1.92963844e-03f,
+ 1.50722399e-01f, -8.59017372e-02f, 5.69892712e-02f, 1.47617474e-01f, -1.12466700e-01f, -2.46537197e-02f, 5.14740683e-02f, 3.22331071e-01f,
+ -1.89055176e-03f, 2.83243418e-01f, 2.70483524e-01f, 5.71791753e-02f, -1.22849755e-01f, -3.87539864e-02f, -1.93446465e-02f, 2.14185208e-01f,
+ 1.19808409e-02f, 6.45135045e-02f, -1.12730347e-01f, 6.07595854e-02f, 2.73707025e-02f, 6.32215068e-02f, -1.51504740e-01f, -1.74694303e-02f,
+ -6.73962459e-02f, 2.92521045e-02f, 8.29927251e-02f, -7.78119415e-02f, -1.35107592e-01f, -9.43786651e-02f, -3.50178480e-02f, -1.53947175e-01f,
+ 6.44837096e-02f, -1.24158800e-01f, 5.85307553e-02f, 5.07338047e-02f, -6.77718744e-02f, -1.13817915e-01f, 1.25519037e-02f, -1.22433111e-01f,
+ -5.31994402e-02f, -1.38118397e-02f, -1.55778542e-01f, 9.74941030e-02f, -7.41960704e-02f, -5.10815866e-02f, -6.26921803e-02f, -5.22776991e-02f,
+ -4.99594957e-02f, 2.48201340e-02f, -7.68313259e-02f, 5.14963269e-02f, 4.79093492e-02f, 2.98178364e-02f, -1.16142958e-01f, -9.08059776e-02f,
+ 5.88967130e-02f, 6.04268275e-02f, 4.67693806e-02f, -1.33862898e-01f, 3.06219459e-02f, 3.22581790e-02f, 3.22594047e-02f, 7.61298537e-02f,
+ -8.90842304e-02f, 7.42700398e-02f, -2.32201796e-02f, -6.47298247e-02f, 1.00358844e-01f, -1.13327250e-01f, 7.50668868e-02f, 6.81277784e-03f,
+ 1.24780666e-02f, -3.93378697e-02f, -5.63600101e-03f, 8.79735649e-02f, -2.31779665e-02f, 1.46123618e-02f, 6.16883487e-02f, -1.08848847e-01f,
+ -6.77509978e-02f, 4.87069041e-02f, 1.11008540e-01f, -6.07072152e-02f, 3.26541811e-03f, -6.10240269e-03f, -8.97744894e-02f, -9.99330431e-02f,
+ -4.76173125e-02f, -1.50074318e-01f, -7.92675838e-02f, 1.11412987e-01f, 4.92952839e-02f, -1.08296454e-01f, 1.08331256e-01f, 1.41746551e-01f,
+ 1.66619807e-01f, 9.80955511e-02f, 9.51834098e-02f, -8.70029908e-03f, 1.11666955e-01f, -7.81992003e-02f, 5.79961911e-02f, 8.93225297e-02f,
+ 9.98028219e-02f, -8.43801126e-02f, -6.16653562e-02f, 1.73644081e-01f, -1.81082003e-02f, 1.77511036e-01f, 5.84064126e-02f, 8.72866437e-02f,
+ -3.26144621e-02f, 2.67364141e-02f, 1.33066058e-01f, 3.91081244e-01f, 6.41655803e-01f, -3.58159319e-02f, 1.00544617e-01f, 2.84046441e-01f,
+ -5.38687780e-02f, 1.16073988e-01f, 1.63029462e-01f, -6.02526851e-02f, -7.63202682e-02f, 1.73249058e-02f, 2.14677617e-01f, -2.06066705e-02f,
+ 1.22279987e-01f, 6.97677732e-02f, 1.20115966e-01f, 2.12272689e-01f, -1.79430973e-02f, 6.51952699e-02f, -1.57288268e-01f, 3.27176988e-01f,
+ 1.64092302e-01f, -3.02931457e-03f, -2.59502442e-03f, -6.75811619e-02f, -8.04419369e-02f, 6.60640607e-03f, -1.69445314e-02f, 8.21072981e-02f,
+ -2.90950411e-03f, -1.78018659e-02f, 9.45393741e-02f, 1.00254267e-01f, -2.27540564e-02f, 1.18516132e-01f, -1.31890163e-01f, 1.33054048e-01f,
+ -3.21911462e-02f, 6.27755821e-02f, 7.39842057e-02f, 8.58852416e-02f, 9.58838966e-03f, -7.56455678e-03f, -1.10304900e-01f, -4.34687808e-02f,
+ 3.39786001e-02f, 7.94472024e-02f, 2.76169665e-02f, -9.27080512e-02f, -2.19227523e-02f, -7.31430501e-02f, -1.79654676e-02f, -8.00341070e-02f,
+ -1.18508190e-02f, -2.99162921e-02f, 5.00440300e-02f, -7.60108680e-02f, -9.34876502e-02f, -5.54210953e-02f, 1.11084968e-01f, 5.78962564e-02f,
+ 5.97421564e-02f, -1.21667936e-01f, -1.23714842e-03f, -2.63185352e-02f, -4.07678261e-02f, 4.85701188e-02f, 1.08524129e-01f, 2.94553842e-02f,
+ 5.65026775e-02f, -5.41742221e-02f, -1.22733982e-02f, -1.55642018e-01f, -8.71700644e-02f, -1.44222766e-01f, 2.91410759e-02f, 6.01505339e-02f,
+ -1.28178716e-01f, 9.95839685e-02f, -1.53893128e-01f, -9.95580405e-02f, -1.23208530e-01f, 9.59974751e-02f, -8.52341428e-02f, -1.09183826e-01f,
+ -1.47620244e-02f, -4.85320464e-02f, 5.85860796e-02f, 1.09295413e-01f, 6.13624975e-02f, 1.55535936e-02f, -1.67379137e-02f, -1.20793179e-01f,
+ -1.01980746e-01f, -7.43205696e-02f, 7.57400990e-02f, -2.94921324e-02f, -9.32065398e-02f, 7.12711662e-02f, -6.22402504e-02f, 1.07425764e-01f,
+ 6.89103082e-02f, -7.94330388e-02f, -1.08938731e-01f, 4.11702693e-02f, -4.41281237e-02f, -9.54837203e-02f, -8.45402107e-02f, -1.04898982e-01f,
+ -5.31464219e-02f, -1.91491120e-03f, -1.48697766e-02f, 5.50371744e-02f, -7.50775114e-02f, -1.25312001e-01f, 1.05051234e-01f, -9.46734995e-02f,
+ -1.15071997e-01f, 1.00130476e-01f, 2.63072718e-02f, -4.23060358e-02f, 3.81937325e-02f, -6.28108308e-02f, -2.67214067e-02f, 1.73161328e-02f,
+ -4.98532690e-02f, 8.77486169e-03f, -6.39254823e-02f, -1.03538327e-01f, -4.05702135e-03f, -1.15329742e-01f, -1.30142629e-01f, 3.58519563e-03f,
+ 4.42959405e-02f, 4.89161350e-03f, -1.41125709e-01f, 2.09679101e-02f, -3.61664891e-02f, -3.66880409e-02f, -3.85591923e-03f, 4.90710288e-02f,
+ -2.16878772e-01f, 7.58961290e-02f, -7.12372512e-02f, -3.35931629e-02f, 7.54870176e-02f, -3.66042107e-02f, -8.77454132e-02f, -6.80990703e-03f,
+ 1.11097969e-01f, 7.81049766e-03f, 7.27827474e-02f, -2.57565659e-02f, -7.85816088e-02f, 1.16814241e-01f, 5.94104789e-02f, 4.79333177e-02f,
+ -8.16103891e-02f, 5.22839166e-02f, 1.02215946e-01f, -3.80877778e-02f, 7.09236860e-02f, -1.33225158e-01f, -2.84763589e-03f, -4.77823615e-02f
+};
+
+const float head_3_bias[32] = {
+ 9.43619832e-02f, -2.05881074e-02f, 3.29254508e-01f, -8.66039246e-02f, -1.21955096e-03f, 4.58638221e-02f, -1.37738883e-01f, 3.97868529e-02f,
+ -3.08968663e-01f, -2.16151103e-01f, 3.73347066e-02f, 3.28289151e-01f, 9.09925476e-02f, -8.21952801e-03f, 2.08392423e-02f, -3.74483950e-02f,
+ -8.57864693e-02f, 1.68905571e-01f, -1.88208714e-01f, -7.66439065e-02f, 1.03554361e-01f, -1.52124077e-01f, -1.32439300e-01f, -3.30973591e-04f,
+ -1.05827831e-01f, 1.49429440e-02f, 6.38364702e-02f, -4.48485557e-03f, -5.45071550e-02f, -4.14141361e-03f, 5.40740415e-02f, -1.75108109e-02f
+};
+
+const float head_5_weight[5][32] = {
+ -3.09913278e-01f, -2.21121177e-01f, 8.76176655e-01f, -2.49111950e-01f, 3.81133229e-01f, -1.25562489e-01f, 2.15103664e-03f, -1.89424038e-01f,
+ -4.19839025e-01f, -1.83641911e-01f, 1.60667092e-01f, 4.19730991e-01f, -1.91311210e-01f, -2.02956364e-01f, 3.72386724e-02f, -6.99194670e-02f,
+ 2.79608279e-01f, 7.96195090e-01f, -2.53780901e-01f, 4.72609073e-01f, 1.11391567e-01f, -4.05449808e-01f, 2.53630549e-01f, 3.10857385e-01f,
+ -6.83004037e-02f, -4.06123519e-01f, 9.26404670e-02f, -1.71193361e-01f, -1.85366105e-02f, -2.06399903e-01f, 8.56166258e-02f, 3.69505435e-02f,
+ 5.49155921e-02f, 1.57778502e-01f, -9.93080810e-03f, -1.76216483e-01f, 7.66882524e-02f, -1.47704229e-01f, -8.29820707e-02f, -5.52797616e-02f,
+ 1.36518152e-02f, 1.89072955e-02f, 9.48231518e-02f, 1.79427072e-01f, 2.79056400e-01f, 2.89407168e-02f, 5.36017492e-02f, -6.47619441e-02f,
+ 1.97694257e-01f, -5.81608973e-02f, -1.79178879e-01f, -9.26245973e-02f, -6.55838922e-02f, -9.31213647e-02f, 1.43677637e-01f, -2.94661462e-01f,
+ -1.07524112e-01f, -2.20405441e-02f, 7.65162855e-02f, -2.78828442e-02f, 5.31948172e-02f, -2.88361199e-02f, 1.10809833e-01f, -1.58261597e-01f,
+ -1.79335192e-01f, 7.23379552e-02f, 1.46758601e-01f, 3.14776540e-01f, 1.79707501e-02f, -1.14442147e-01f, 1.38930902e-01f, -1.96140140e-01f,
+ -5.74406981e-02f, -1.88826516e-01f, -2.33826824e-02f, -1.79287270e-01f, -3.38078067e-02f, 1.65562779e-01f, -3.38390470e-02f, 3.02745283e-01f,
+ -2.35393196e-01f, 6.48044422e-02f, -7.86646269e-03f, 1.56984225e-01f, 3.96966636e-01f, -1.44139171e-01f, 1.91109389e-01f, -1.58620581e-01f,
+ -1.90299943e-01f, 2.05934018e-01f, -1.93803106e-02f, 1.41820058e-01f, 6.40385970e-02f, 1.54628515e-01f, -1.22506000e-01f, -1.46169364e-01f,
+ -1.58871189e-01f, -1.44838005e-01f, 4.52528633e-02f, 6.17138594e-02f, 3.02725490e-02f, -1.12967908e-01f, -7.45989732e-04f, 6.16390780e-02f,
+ 1.05008915e-01f, -7.20967427e-02f, 1.38498873e-01f, 1.27025694e-01f, 1.10707052e-01f, 4.79519516e-02f, -1.94321619e-03f, 3.18036079e-01f,
+ -8.63831118e-02f, -1.01151638e-01f, -1.35335714e-01f, 1.84750929e-01f, -2.86846124e-02f, 2.93439090e-01f, 1.82799593e-01f, -7.63492882e-02f,
+ -4.63021211e-02f, 4.50626202e-02f, -1.63095295e-01f, -1.49920806e-01f, -1.07118860e-02f, -3.03581133e-02f, -7.64526948e-02f, -6.74169958e-02f,
+ -1.25510350e-01f, -9.32307765e-02f, -2.45838687e-02f, 8.64342973e-03f, 5.12142293e-02f, -1.85821354e-01f, 1.50300264e-01f, -1.16730817e-01f,
+ 2.04246521e-01f, 9.96846482e-02f, -1.16411321e-01f, -2.48954222e-01f, 7.28215277e-02f, -1.80013984e-01f, 3.37816775e-02f, 1.65080026e-01f,
+ 2.10611578e-02f, 1.31739944e-01f, -1.53309539e-01f, 5.87545335e-02f, -2.32874364e-01f, 9.20209512e-02f, 2.63354868e-01f, -9.83879790e-02f,
+ 2.26389423e-01f, -8.21574405e-03f, -1.69299483e-01f, -3.18060100e-01f, 1.17827259e-01f, 5.41886725e-02f, -1.70620918e-01f, 1.52082965e-01f
+};
+
+const float head_5_bias[5] = {
+ 7.22825304e-02f, 2.61518219e-03f, -8.90104771e-02f, 1.33230716e-01f, -2.21950069e-01f
+};
diff --git a/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h
new file mode 100644
index 00000000000..57f28dbfc31
--- /dev/null
+++ b/sw/airborne/modules/computer_vision/gate_cnn_detector/gate_cnn_weights.h
@@ -0,0 +1,17 @@
+#ifndef GATE_CNN_WEIGHTS_H
+#define GATE_CNN_WEIGHTS_H
+
+extern const float features_0_weight[8][3][3][3];
+extern const float features_0_bias[8];
+extern const float features_3_weight[16][8][3][3];
+extern const float features_3_bias[16];
+extern const float features_6_weight[24][16][3][3];
+extern const float features_6_bias[24];
+extern const float head_1_weight[64][144];
+extern const float head_1_bias[64];
+extern const float head_3_weight[32][64];
+extern const float head_3_bias[32];
+extern const float head_5_weight[5][32];
+extern const float head_5_bias[5];
+
+#endif
\ No newline at end of file
diff --git a/sw/airborne/modules/custom_avoider/custom_avoider.c b/sw/airborne/modules/custom_avoider/custom_avoider.c
new file mode 100644
index 00000000000..16ee8a78f69
--- /dev/null
+++ b/sw/airborne/modules/custom_avoider/custom_avoider.c
@@ -0,0 +1,714 @@
+/*
+Author: Tommaso Calzolari
+email: tcalzolari@tudelft.nl
+Group 9 from MAVLab 2026
+
+Gate-only navigation module:
+ - subscribes ONLY to VISUAL_DETECTION
+ - searches for gate
+ - aligns to gate
+ - flies toward gate
+ - performs blind pass-through when close
+
+Revised logic:
+ - does NOT use CNN quality threshold here; the detector already decides
+ whether a gate is present before setting quality > 0.
+ - does NOT use bounding-box width/height as a distance proxy.
+ - uses dynamic image width from the incoming message (extra field) to
+ compute image center instead of using a fixed center_x value.
+ - expects regular VISUAL_DETECTION messages, including negative detections
+ (quality == 0), so stale detections can be rejected cleanly.
+ */
+
+#include "modules/custom_avoider/custom_avoider.h"
+#include "firmwares/rotorcraft/navigation.h"
+#include "generated/airframe.h"
+#include "state.h"
+#include "modules/core/abi.h"
+
+#include
+#include
+#include
+#include
+
+#include "generated/flight_plan.h"
+
+/* --------------------------------------------------------- */
+/* ABI */
+/* --------------------------------------------------------- */
+
+#ifndef GATE_FUSION_VISUAL_DETECTION_ID
+#define GATE_FUSION_VISUAL_DETECTION_ID ABI_BROADCAST
+#endif
+
+static abi_event gate_ev;
+
+/* --------------------------------------------------------- */
+/* Latest detector output */
+/* --------------------------------------------------------- */
+/*
+ Expected message convention from the detector:
+
+ quality > 0 -> positive detection
+ quality == 0 -> negative detection (no gate seen in this frame)
+
+ extra = image width in pixels
+
+ This lets nav:
+ - know the current horizontal image center dynamically
+ - distinguish a true "no gate now" from "no message arrived"
+
+ */
+static uint8_t gate_detected = 0;
+static int16_t gate_px = 0;
+static int16_t gate_py = 0;
+static int16_t gate_pw = 0;
+static int16_t gate_ph = 0;
+static int32_t gate_quality = 0;
+static int16_t gate_img_w = 0; /* sent by detector in extra */
+static uint8_t gate_msg_valid = 0;
+
+/* --------------------------------------------------------- */
+/* Tunable settings */
+/* --------------------------------------------------------- */
+
+/*
+ * Horizontal centering tolerance in pixels.
+ * TUNING:
+ * - too small -> oscillations / slow alignment
+ * - too large -> drone starts forward motion while still misaligned
+ */
+#ifndef GATE_FUSION_ALIGN_TOL_PX
+#define GATE_FUSION_ALIGN_TOL_PX 10
+#endif
+
+/*
+ * Number of nav periodic cycles after the last received detector message
+ * before we consider the visual data stale.
+ *
+ * TUNING:
+ * - if detector publishes slowly, this must be large enough
+ * - if this is too large, nav may act on stale visual data
+ * - if this is too small, nav may keep dropping valid detections
+ */
+#ifndef GATE_FUSION_MAX_MSG_AGE_CYCLES
+#define GATE_FUSION_MAX_MSG_AGE_CYCLES 3
+#endif
+
+/*
+ * Number of FLY_TO_GATE cycles with continuous fresh detection before we
+ * commit to blind pass-through.
+ *
+ * This remains one of the blind-pass engagement conditions.
+ *
+ * TUNING:
+ * - too small -> blind mode may start too early
+ * - too large -> drone may hesitate too long before committing
+ *
+ * Best tuned from flight tests using your actual forward speed and nav rate.
+ */
+#ifndef GATE_FUSION_APPROACH_CYCLES_BEFORE_BLIND
+#define GATE_FUSION_APPROACH_CYCLES_BEFORE_BLIND 8
+#endif
+
+/*
+ * Additional blind-pass engagement condition:
+ * require the gate to remain horizontally centered for a minimum number of
+ * consecutive FLY_TO_GATE cycles.
+ *
+ * This complements the approach-cycle heuristic by requiring some visual
+ * stability before committing to blind forward motion.
+ */
+#ifndef GATE_FUSION_CENTERED_CYCLES_BEFORE_BLIND
+#define GATE_FUSION_CENTERED_CYCLES_BEFORE_BLIND 3u
+#endif
+
+/*
+ * While flying toward the gate, apply heading corrections less aggressively
+ * than in ALIGN_TO_GATE:
+ * - use a smaller heading increment
+ * - only react to every N-th new detector message
+ *
+ * TUNING:
+ * - smaller increment reduces oscillations during approach
+ * - larger RX stride makes the behavior less twitchy, but slower to correct
+ */
+#ifndef GATE_FUSION_FLY_HEADING_INC_DEG
+#define GATE_FUSION_FLY_HEADING_INC_DEG 4.0f
+#endif
+
+#ifndef GATE_FUSION_FLY_CORRECTION_EVERY_RX
+#define GATE_FUSION_FLY_CORRECTION_EVERY_RX 1u
+#endif
+
+/*
+ * Number of cycles to continue flying forward without vision after deciding
+ * to pass through the gate.
+ *
+ * TUNING:
+ * - too small -> may stop before fully crossing the gate
+ * - too large -> may overshoot significantly after the gate
+ */
+#ifndef GATE_FUSION_BLIND_CYCLES
+#define GATE_FUSION_BLIND_CYCLES 10
+#endif
+
+/*
+ * Forward distances used to move the reference waypoints along the current
+ * heading direction.
+ *
+ * TUNING:
+ * - too large -> aggressive motion, less time for correction
+ * - too small -> sluggish, hesitant approach
+ */
+#ifndef GATE_FUSION_FORWARD_DIST
+#define GATE_FUSION_FORWARD_DIST 1.0f
+#endif
+
+#ifndef GATE_FUSION_TRAJ_FORWARD_DIST
+#define GATE_FUSION_TRAJ_FORWARD_DIST 1.5f
+#endif
+
+/*
+ * Heading increment used while searching for a gate.
+ *
+ * TUNING:
+ * - too large -> search may spin too fast and skip detections
+ * - too small -> search becomes slow
+ */
+#ifndef GATE_FUSION_SEARCH_HEADING_INC_DEG
+#define GATE_FUSION_SEARCH_HEADING_INC_DEG 4.0f
+#endif
+
+/*
+ * Heading increment used while aligning the gate horizontally to the image
+ * center.
+ *
+ * TUNING:
+ * - too large -> overshoot / oscillation
+ * - too small -> slow alignment
+ */
+#ifndef GATE_FUSION_ALIGN_HEADING_INC_DEG
+#define GATE_FUSION_ALIGN_HEADING_INC_DEG 3.0f
+#endif
+
+#ifndef GATE_FUSION_DEBUG
+#define GATE_FUSION_DEBUG true
+#endif
+
+#ifndef GATE_FUSION_DEBUG_PERIOD
+#define GATE_FUSION_DEBUG_PERIOD 20
+#endif
+
+#ifndef GATE_FUSION_DEBUG_ALL_DECISIONS
+#define GATE_FUSION_DEBUG_ALL_DECISIONS true
+#endif
+
+/* --------------------------------------------------------- */
+/* State machine */
+/* --------------------------------------------------------- */
+
+enum navigation_state_t {
+ SEARCH_FOR_GATE = 0,
+ ALIGN_TO_GATE,
+ FLY_TO_GATE,
+ BLIND_THROUGH_GATE
+};
+
+static enum navigation_state_t navigation_state = SEARCH_FOR_GATE;
+static float heading_increment = GATE_FUSION_SEARCH_HEADING_INC_DEG;
+static uint8_t blind_cycles_remaining = 0;
+static uint16_t debug_cycle_count = 0;
+static uint32_t nav_periodic_counter = 0u;
+static uint32_t gate_rx_counter = 0u;
+static uint32_t last_gate_rx_periodic_counter = 0u;
+static uint32_t last_fly_heading_correction_rx_count = 0u;
+
+/*
+ * Counts how many consecutive FLY_TO_GATE cycles we have had with a fresh
+ * positive detection.
+ */
+static uint16_t fly_cycles_with_gate = 0u;
+static uint16_t fly_centered_cycles = 0u;
+
+/* --------------------------------------------------------- */
+/* Forward declarations */
+/* --------------------------------------------------------- */
+
+static uint8_t moveWaypointForward(uint8_t waypoint, float distanceMeters);
+static uint8_t calculateForwards(struct EnuCoor_i *new_coor, float distanceMeters);
+static uint8_t moveWaypoint(uint8_t waypoint, struct EnuCoor_i *new_coor);
+static uint8_t increase_nav_heading(float incrementDegrees);
+
+static uint8_t gate_msg_is_fresh(void);
+static uint8_t gate_msg_geometry_is_valid(void);
+static uint8_t gate_is_good(void);
+static uint8_t gate_is_close(void);
+
+static int16_t gate_image_center_x(void);
+static int16_t gate_error_x(void);
+
+static const char *navigation_state_name(enum navigation_state_t state);
+static void set_navigation_state(enum navigation_state_t new_state, const char *reason);
+static void debug_print_periodic_status(const char *phase, int16_t err_x);
+static void debug_print_decision(const char *phase, const char *decision, int16_t err_x);
+
+#if GATE_FUSION_DEBUG
+#define GATE_DEBUG_PRINT(...) printf(__VA_ARGS__)
+#else
+#define GATE_DEBUG_PRINT(...) do { } while (0)
+#endif
+
+/* --------------------------------------------------------- */
+/* ABI callback */
+/* --------------------------------------------------------- */
+
+static void gate_detection_cb(uint8_t sender_id,
+ int16_t pixel_x,
+ int16_t pixel_y,
+ int16_t pixel_width,
+ int16_t pixel_height,
+ int32_t quality,
+ int16_t extra)
+{
+ gate_px = pixel_x;
+ gate_py = pixel_y;
+ gate_pw = pixel_width;
+ gate_ph = pixel_height;
+ gate_quality = quality;
+ gate_img_w = extra; /* detector should send image width here */
+
+ /*
+ * Detection semantics:
+ * - quality > 0 => positive detection
+ * - quality == 0 => negative detection (detector ran, no gate found)
+ */
+ gate_detected = (quality > 0) ? 1u : 0u;
+
+ /*
+ * Validity of the incoming message geometry:
+ * - image width must be > 0
+ * - for positive detections, pixel_x must lie inside the reported image width
+ */
+ gate_msg_valid = 1u;
+ if (gate_img_w <= 1) {
+ gate_msg_valid = 0u;
+ }
+ if (gate_detected && (gate_px < 0 || gate_px >= gate_img_w)) {
+ gate_msg_valid = 0u;
+ }
+
+ gate_rx_counter++;
+ last_gate_rx_periodic_counter = nav_periodic_counter;
+
+ GATE_DEBUG_PRINT("[custom_avoider.c][rx VISUAL_DETECTION from gate_cnn_detector.c] sender_id=%u px=%d py=%d w=%d h=%d quality=%ld img_w=%d det=%u valid=%u rx_count=%lu\n",
+ sender_id,
+ pixel_x,
+ pixel_y,
+ pixel_width,
+ pixel_height,
+ (long)quality,
+ gate_img_w,
+ gate_detected,
+ gate_msg_valid,
+ (unsigned long)gate_rx_counter);
+}
+
+/* --------------------------------------------------------- */
+/* Init */
+/* --------------------------------------------------------- */
+
+void navigation_controller_init(void)
+{
+ navigation_state = SEARCH_FOR_GATE;
+ heading_increment = GATE_FUSION_SEARCH_HEADING_INC_DEG;
+ blind_cycles_remaining = 0;
+ debug_cycle_count = 0;
+ nav_periodic_counter = 0u;
+ gate_rx_counter = 0u;
+ last_gate_rx_periodic_counter = 0u;
+ last_fly_heading_correction_rx_count = 0u;
+ fly_cycles_with_gate = 0u;
+ fly_centered_cycles = 0u;
+
+ gate_detected = 0u;
+ gate_px = 0;
+ gate_py = 0;
+ gate_pw = 0;
+ gate_ph = 0;
+ gate_quality = 0;
+ gate_img_w = 0;
+ gate_msg_valid = 0u;
+
+ AbiBindMsgVISUAL_DETECTION(GATE_FUSION_VISUAL_DETECTION_ID,
+ &gate_ev,
+ gate_detection_cb);
+
+ GATE_DEBUG_PRINT("[gate_nav] init: align_tol=%d stale_cycles=%u search_inc=%.2f align_inc=%.2f blind_after_fly_cycles=%u blind_cycles=%u\n",
+ GATE_FUSION_ALIGN_TOL_PX,
+ (unsigned)GATE_FUSION_MAX_MSG_AGE_CYCLES,
+ (double)GATE_FUSION_SEARCH_HEADING_INC_DEG,
+ (double)GATE_FUSION_ALIGN_HEADING_INC_DEG,
+ (unsigned)GATE_FUSION_APPROACH_CYCLES_BEFORE_BLIND,
+ (unsigned)GATE_FUSION_BLIND_CYCLES);
+}
+
+/* --------------------------------------------------------- */
+/* Main loop */
+/* --------------------------------------------------------- */
+
+void navigation_controller_periodic(void)
+{
+ if (!autopilot_in_flight()) {
+ return;
+ }
+
+ debug_cycle_count++;
+ nav_periodic_counter++;
+
+ switch (navigation_state) {
+
+ case SEARCH_FOR_GATE:
+ /*
+ * Search behavior:
+ * rotate at a fixed heading increment until a fresh positive detection
+ * with valid geometry arrives.
+ *
+ * TUNING:
+ * search heading increment strongly affects how aggressively the drone
+ * scans the scene.
+ */
+ debug_print_decision("search", "rotate_search", gate_error_x());
+ increase_nav_heading(heading_increment);
+ debug_print_periodic_status("search", gate_error_x());
+
+ if (gate_is_good()) {
+ debug_print_decision("search", "gate_acquired", gate_error_x());
+ set_navigation_state(ALIGN_TO_GATE, "fresh gate acquired");
+ }
+ break;
+
+ case ALIGN_TO_GATE: {
+ /*
+ * Alignment behavior:
+ * use the image width received from the detector to compute the current
+ * image center dynamically. This avoids assuming a fixed center_x = 120.
+ */
+ if (!gate_is_good()) {
+ debug_print_decision("align", "lost_gate", gate_error_x());
+ fly_centered_cycles = 0u;
+ set_navigation_state(SEARCH_FOR_GATE, "lost gate during align");
+ break;
+ }
+
+ int16_t err_x = gate_error_x();
+ debug_print_periodic_status("align", err_x);
+
+ if (err_x < -GATE_FUSION_ALIGN_TOL_PX) {
+ debug_print_decision("align", "turn_left", err_x);
+ increase_nav_heading(GATE_FUSION_ALIGN_HEADING_INC_DEG);
+ } else if (err_x > GATE_FUSION_ALIGN_TOL_PX) {
+ debug_print_decision("align", "turn_right", err_x);
+ increase_nav_heading(-GATE_FUSION_ALIGN_HEADING_INC_DEG);
+ } else {
+ debug_print_decision("align", "gate_centered", err_x);
+ fly_cycles_with_gate = 0u;
+ fly_centered_cycles = 0u;
+ last_fly_heading_correction_rx_count = gate_rx_counter;
+ set_navigation_state(FLY_TO_GATE, "gate centered");
+ }
+ break;
+ }
+
+ case FLY_TO_GATE:
+ /*
+ * Approach behavior:
+ * continue moving forward while the gate remains visible and fresh.
+ * While approaching, keep applying small heading corrections, but only
+ * on a subsampled set of incoming detections to avoid reacting to every
+ * single update.
+ *
+ * Since bbox-based closeness was removed, we use a simple heuristic:
+ * after N consecutive FLY cycles with a fresh gate, commit to blind mode.
+ *
+ */
+ if (!gate_is_good()) {
+ debug_print_decision("fly", "lost_gate", gate_error_x());
+ fly_cycles_with_gate = 0u;
+ fly_centered_cycles = 0u;
+ set_navigation_state(SEARCH_FOR_GATE, "lost gate during approach");
+ break;
+ }
+
+ debug_print_periodic_status("fly", gate_error_x());
+
+ fly_cycles_with_gate++;
+
+ int16_t fly_err_x = gate_error_x();
+
+ if (abs(fly_err_x) <= GATE_FUSION_ALIGN_TOL_PX) {
+ fly_centered_cycles++;
+ } else {
+ fly_centered_cycles = 0u;
+ }
+
+ uint32_t rx_since_last_fly_correction = gate_rx_counter - last_fly_heading_correction_rx_count;
+
+ if (rx_since_last_fly_correction >= GATE_FUSION_FLY_CORRECTION_EVERY_RX) {
+ if (fly_err_x < -GATE_FUSION_ALIGN_TOL_PX) {
+ debug_print_decision("fly", "correct_left", fly_err_x);
+ increase_nav_heading(GATE_FUSION_FLY_HEADING_INC_DEG);
+ last_fly_heading_correction_rx_count = gate_rx_counter;
+ } else if (fly_err_x > GATE_FUSION_ALIGN_TOL_PX) {
+ debug_print_decision("fly", "correct_right", fly_err_x);
+ increase_nav_heading(-GATE_FUSION_FLY_HEADING_INC_DEG);
+ last_fly_heading_correction_rx_count = gate_rx_counter;
+ }
+ }
+
+ if (gate_is_close()) {
+ blind_cycles_remaining = GATE_FUSION_BLIND_CYCLES;
+ debug_print_decision("fly", "switch_to_blind", fly_err_x);
+ set_navigation_state(BLIND_THROUGH_GATE, "approach duration reached");
+ break;
+ }
+
+ debug_print_decision("fly", "advance_waypoints", fly_err_x);
+ moveWaypointForward(WP_TRAJECTORY, GATE_FUSION_TRAJ_FORWARD_DIST);
+ moveWaypointForward(WP_GOAL, GATE_FUSION_FORWARD_DIST);
+ break;
+
+ case BLIND_THROUGH_GATE:
+ /*
+ * Blind pass-through:
+ * keep flying forward for a fixed number of cycles. This is intentionally
+ * independent from vision, because detector output can become unstable
+ * very close to and while crossing the gate.
+ *
+ * TUNING:
+ * blind_cycles_remaining must be tuned against actual airspeed and nav
+ * loop rate.
+ */
+ debug_print_decision("blind", "blind_forward", gate_error_x());
+ moveWaypointForward(WP_TRAJECTORY, GATE_FUSION_TRAJ_FORWARD_DIST);
+ moveWaypointForward(WP_GOAL, GATE_FUSION_FORWARD_DIST);
+
+ if (blind_cycles_remaining > 0) {
+ blind_cycles_remaining--;
+ }
+
+ GATE_DEBUG_PRINT("[custom_avoider.c][state BLIND] remaining_cycles=%u\n",
+ blind_cycles_remaining);
+
+ if (blind_cycles_remaining == 0) {
+ fly_cycles_with_gate = 0u;
+ fly_centered_cycles = 0u;
+ debug_print_decision("blind", "blind_complete", gate_error_x());
+ set_navigation_state(SEARCH_FOR_GATE, "blind pass complete");
+ }
+ break;
+
+ default:
+ debug_print_decision("unknown", "invalid_state_reset", gate_error_x());
+ fly_cycles_with_gate = 0u;
+ fly_centered_cycles = 0u;
+ set_navigation_state(SEARCH_FOR_GATE, "invalid state");
+ break;
+ }
+}
+
+/* --------------------------------------------------------- */
+/* Helpers */
+/* --------------------------------------------------------- */
+
+static uint8_t gate_msg_is_fresh(void)
+{
+ uint32_t msg_age_cycles = nav_periodic_counter - last_gate_rx_periodic_counter;
+ return (msg_age_cycles <= GATE_FUSION_MAX_MSG_AGE_CYCLES) ? 1u : 0u;
+}
+
+static uint8_t gate_msg_geometry_is_valid(void)
+{
+ return gate_msg_valid;
+}
+
+static uint8_t gate_is_good(void)
+{
+
+ return (gate_msg_is_fresh() &&
+ gate_msg_geometry_is_valid() &&
+ gate_detected);
+}
+
+static uint8_t gate_is_close(void)
+{
+ /*
+ * Blind-pass engagement heuristic:
+ * - enough continuous FLY_TO_GATE cycles with fresh detections
+ * - plus a minimum consecutive centered window
+ */
+ if (!gate_is_good()) {
+ return 0u;
+ }
+
+ return ((fly_cycles_with_gate >= GATE_FUSION_APPROACH_CYCLES_BEFORE_BLIND) &&
+ (fly_centered_cycles >= GATE_FUSION_CENTERED_CYCLES_BEFORE_BLIND)) ? 1u : 0u;
+}
+
+static int16_t gate_image_center_x(void)
+{
+ if (gate_img_w <= 1) {
+ return 0;
+ }
+ return gate_img_w / 2;
+}
+
+static int16_t gate_error_x(void)
+{
+ if (!gate_msg_geometry_is_valid()) {
+ return 0;
+ }
+ return gate_px - gate_image_center_x();
+}
+
+static const char *navigation_state_name(enum navigation_state_t state)
+{
+ switch (state) {
+ case SEARCH_FOR_GATE:
+ return "SEARCH";
+ case ALIGN_TO_GATE:
+ return "ALIGN";
+ case FLY_TO_GATE:
+ return "FLY";
+ case BLIND_THROUGH_GATE:
+ return "BLIND";
+ default:
+ return "UNKNOWN";
+ }
+}
+
+static void set_navigation_state(enum navigation_state_t new_state, const char *reason)
+{
+ if (navigation_state == new_state) {
+ return;
+ }
+
+ GATE_DEBUG_PRINT("[gate_nav] %s -> %s: %s (det=%u fresh=%u valid=%u q=%ld px=%d py=%d img_w=%d err=%d blind=%u fly_cycles=%u)\n",
+ navigation_state_name(navigation_state),
+ navigation_state_name(new_state),
+ reason,
+ gate_detected,
+ gate_msg_is_fresh(),
+ gate_msg_geometry_is_valid(),
+ (long)gate_quality,
+ gate_px,
+ gate_py,
+ gate_img_w,
+ gate_error_x(),
+ blind_cycles_remaining,
+ fly_cycles_with_gate);
+
+ navigation_state = new_state;
+}
+
+static void debug_print_periodic_status(const char *phase, int16_t err_x)
+{
+#if GATE_FUSION_DEBUG
+ if ((debug_cycle_count % GATE_FUSION_DEBUG_PERIOD) != 0) {
+ return;
+ }
+
+ GATE_DEBUG_PRINT("[gate_nav] %s: state=%s det=%u fresh=%u valid=%u good=%u close=%u q=%ld px=%d py=%d img_w=%d center_x=%d err=%d w=%d h=%d fly_cycles=%u centered_cycles=%u\n",
+ phase,
+ navigation_state_name(navigation_state),
+ gate_detected,
+ gate_msg_is_fresh(),
+ gate_msg_geometry_is_valid(),
+ gate_is_good(),
+ gate_is_close(),
+ (long)gate_quality,
+ gate_px,
+ gate_py,
+ gate_img_w,
+ gate_image_center_x(),
+ err_x,
+ gate_pw,
+ gate_ph,
+ fly_cycles_with_gate,
+ fly_centered_cycles);
+#else
+ (void)phase;
+ (void)err_x;
+#endif
+}
+
+static void debug_print_decision(const char *phase, const char *decision, int16_t err_x)
+{
+#if GATE_FUSION_DEBUG && GATE_FUSION_DEBUG_ALL_DECISIONS
+ uint32_t msg_age_cycles = nav_periodic_counter - last_gate_rx_periodic_counter;
+ GATE_DEBUG_PRINT("[custom_avoider.c][decision] phase=%s state=%s action=%s det=%u fresh=%u valid=%u q=%ld px=%d py=%d img_w=%d center_x=%d err=%d w=%d h=%d rx_count=%lu msg_age_cycles=%lu fly_cycles=%u centered_cycles=%u\n",
+ phase,
+ navigation_state_name(navigation_state),
+ decision,
+ gate_detected,
+ gate_msg_is_fresh(),
+ gate_msg_geometry_is_valid(),
+ (long)gate_quality,
+ gate_px,
+ gate_py,
+ gate_img_w,
+ gate_image_center_x(),
+ err_x,
+ gate_pw,
+ gate_ph,
+ (unsigned long)gate_rx_counter,
+ (unsigned long)msg_age_cycles,
+ fly_cycles_with_gate,
+ fly_centered_cycles);
+#else
+ (void)phase;
+ (void)decision;
+ (void)err_x;
+#endif
+}
+
+static uint8_t increase_nav_heading(float incrementDegrees)
+{
+ float current_heading = stateGetNedToBodyEulers_f()->psi;
+ float new_heading = current_heading + RadOfDeg(incrementDegrees);
+ FLOAT_ANGLE_NORMALIZE(new_heading);
+ nav.heading = new_heading;
+
+ GATE_DEBUG_PRINT("[custom_avoider.c][tx nav.heading] current=%.3f rad inc=%.3f deg new=%.3f rad\n",
+ (double)current_heading,
+ (double)incrementDegrees,
+ (double)new_heading);
+ return false;
+}
+
+static uint8_t moveWaypointForward(uint8_t waypoint, float distanceMeters)
+{
+ struct EnuCoor_i new_coor;
+ calculateForwards(&new_coor, distanceMeters);
+ moveWaypoint(waypoint, &new_coor);
+ return false;
+}
+
+static uint8_t calculateForwards(struct EnuCoor_i *new_coor, float distanceMeters)
+{
+ float heading = nav.heading;
+
+ new_coor->x = stateGetPositionEnu_i()->x + POS_BFP_OF_REAL(sinf(heading) * distanceMeters);
+ new_coor->y = stateGetPositionEnu_i()->y + POS_BFP_OF_REAL(cosf(heading) * distanceMeters);
+ return false;
+}
+
+static uint8_t moveWaypoint(uint8_t waypoint, struct EnuCoor_i *new_coor)
+{
+ waypoint_move_xy_i(waypoint, new_coor->x, new_coor->y);
+ GATE_DEBUG_PRINT("[custom_avoider.c][tx waypoint_move_xy_i] waypoint=%u x=%ld y=%ld\n",
+ waypoint,
+ (long)new_coor->x,
+ (long)new_coor->y);
+ return false;
+}
\ No newline at end of file
diff --git a/sw/airborne/modules/custom_avoider/custom_avoider.h b/sw/airborne/modules/custom_avoider/custom_avoider.h
new file mode 100644
index 00000000000..58bda54bfc3
--- /dev/null
+++ b/sw/airborne/modules/custom_avoider/custom_avoider.h
@@ -0,0 +1,9 @@
+
+#ifndef CUSTOM_AVOIDER_H
+#define CUSTOM_AVOIDER_H
+
+// functions
+extern void navigation_controller_init(void);
+extern void navigation_controller_periodic(void);
+
+#endif