Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
follow_me.h File Reference
#include "std.h"
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Functions

void follow_me_init (void)
 init function More...
 
void follow_me_periodic (void)
 periodic function More...
 
void follow_me_parse_target_pos (uint8_t *buf)
 on receiving a TARGET_POS message More...
 
void follow_me_set_wp (uint8_t wp_id, float speed)
 run function More...
 

Variables

float follow_me_distance
 distance from the ground gps More...
 
float follow_me_height
 height from the ground gps More...
 
float follow_me_heading
 heading direction in which to hover from (automatically set if ground is exceeding speed) More...
 
float follow_me_filt
 Follow me course sin/cos filter value (higher is harder filter) More...
 
float follow_me_diag_speed
 Diagonal speed for follow me. More...
 
float follow_me_gps_delay
 Follow me GPS delay from the relative positionb packet (in ms) More...
 
float follow_me_datalink_delay
 Follow me datalink delay from the ground GPS packet (in ms) More...
 
float follow_me_advance_ms
 Follow me waypoint advance time in ms (multiplied by the ground speed) More...
 
float follow_me_min_dist
 Follow me minimum distance in meters when trying to approach with a certain speed. More...
 
float follow_me_min_height
 Follow me minimum height in meters when approaching with a speed. More...
 

Detailed Description

Author
Freek van Tienen freek.nosp@m..v.t.nosp@m.ienen.nosp@m.@gma.nosp@m.il.co.nosp@m.m Control a rotorcraft to follow at a defined distance from the target

Definition in file follow_me.h.

Function Documentation

◆ follow_me_init()

void follow_me_init ( void  )

init function

Definition at line 87 of file follow_me.c.

References ground_set, ground_time_msec, last_targetpos_valid, moving_wps, and moving_wps_cnt.

◆ follow_me_parse_target_pos()

void follow_me_parse_target_pos ( uint8_t buf)

on receiving a TARGET_POS message

Definition at line 147 of file follow_me.c.

References LlaCoor_i::alt, get_sys_time_msec(), ground_climb, ground_course, ground_heading, ground_lla, ground_set, ground_speed, ground_time_msec, LlaCoor_i::lat, and LlaCoor_i::lon.

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◆ follow_me_periodic()

◆ follow_me_set_wp()

void follow_me_set_wp ( uint8_t  wp_id,
float  speed 
)

run function

should be called in a flight plan stay block using pre_call will only set the x and y position and not the height

ex: <block name="Track Object"> <stay wp="STDBY" pre_call="object_tracking_run(WP_STDBY)"> </block>

Definition at line 170 of file follow_me.c.

References DefaultChannel, DefaultDevice, ENU_OF_TO_NED, follow_me_advance_ms, follow_me_datalink_delay, FOLLOW_ME_DISTANCE, follow_me_distance, follow_me_filt, FOLLOW_ME_GROUND_TIMEOUT, follow_me_heading, FOLLOW_ME_HEIGHT, follow_me_height, follow_me_min_dist, follow_me_min_height, get_sys_time_msec(), ground_course, ground_heading, ground_lla, ground_set, ground_speed, ground_time_msec, State::ned_initialized_i, ned_of_lla_point_i(), State::ned_origin_i, state, waypoint_set_enu(), waypoints, NedCoor_f::x, NedCoor_i::x, point::x, NedCoor_f::y, NedCoor_i::y, point::y, NedCoor_f::z, and NedCoor_i::z.

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Variable Documentation

◆ follow_me_advance_ms

float follow_me_advance_ms
extern

Follow me waypoint advance time in ms (multiplied by the ground speed)

Definition at line 69 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_datalink_delay

float follow_me_datalink_delay
extern

Follow me datalink delay from the ground GPS packet (in ms)

Definition at line 68 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_diag_speed

float follow_me_diag_speed
extern

Diagonal speed for follow me.

Definition at line 66 of file follow_me.c.

◆ follow_me_distance

float follow_me_distance
extern

distance from the ground gps

Definition at line 62 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_filt

float follow_me_filt
extern

Follow me course sin/cos filter value (higher is harder filter)

Definition at line 65 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_gps_delay

float follow_me_gps_delay
extern

Follow me GPS delay from the relative positionb packet (in ms)

Definition at line 67 of file follow_me.c.

◆ follow_me_heading

float follow_me_heading
extern

heading direction in which to hover from (automatically set if ground is exceeding speed)

Definition at line 64 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_height

float follow_me_height
extern

height from the ground gps

Definition at line 63 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_min_dist

float follow_me_min_dist
extern

Follow me minimum distance in meters when trying to approach with a certain speed.

Definition at line 70 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_min_height

float follow_me_min_height
extern

Follow me minimum height in meters when approaching with a speed.

Definition at line 71 of file follow_me.c.

Referenced by follow_me_set_wp().