Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
object_tracking.h File Reference
#include "std.h"
+ Include dependency graph for object_tracking.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions

void object_tracking_init (void)
 init function More...
 
void object_tracking_run (void)
 run function More...
 

Variables

float object_tracking_rate
 max turn rate in control mode in rad/s More...
 
float object_tracking_search_rate
 max turn rate in search mode in rad/s More...
 

Detailed Description

Author
Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Control a rotorcraft heading to track an object detected by a camera

Definition in file object_tracking.h.

Function Documentation

void object_tracking_init ( void  )
void object_tracking_run ( void  )

run function

should be called in a flight plan stay block using pre_call

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

Definition at line 102 of file object_tracking.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, DefaultChannel, DefaultDevice, FLOAT_ANGLE_NORMALIZE, INT32_COURSE_NORMALIZE, msg, nav_dt, nav_heading, object_bearing, object_frame, object_height, object_tracking_rate, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, FloatEulers::psi, stateGetNedToBodyEulers_f(), and timeout.

+ Here is the call graph for this function:

Variable Documentation

float object_tracking_rate

max turn rate in control mode in rad/s

Definition at line 64 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().

float object_tracking_search_rate

max turn rate in search mode in rad/s

Definition at line 65 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().