object_tracking.h File Reference

#include "std.h"

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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

object_tracking_init()

void object_tracking_init

(

void

)

init function

Definition at line 88 of file object_tracking.c.

References get_object(), object_bearing, object_ev, object_frame, object_height, OBJECT_TRACKING_ID, OBJECT_TRACKING_RATE, object_tracking_rate, OBJECT_TRACKING_SEARCH_RATE, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, and timeout.

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object_tracking_run()

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 DefaultChannel, DefaultDevice, FLOAT_ANGLE_NORMALIZE, RotorcraftNavigation::heading, msg, nav, nav_dt, NormCourseRad, object_bearing, object_frame, object_height, object_tracking_rate, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, FloatEulers::psi, stateGetNedToBodyEulers_f(), and timeout.

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Variable Documentation

object_tracking_rate

float object_tracking_rate

extern

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().

object_tracking_search_rate

float object_tracking_search_rate

extern

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().