follow_me.c File Reference

#include "modules/stereocam/stereocam_follow_me/follow_me.h"
#include "state.h"
#include "navigation.h"
#include "modules/datalink/telemetry.h"
#include "generated/flight_plan.h"

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Macros
#define	STEREOCAM_FOLLOW_ME_USE_OPTITRACK   FALSE
#define	HEADING_CHANGE_PER_MEASUREMENT   0.063f
#define	CENTER_IMAGE_HOR   65
#define	MAXIMUM_ALTITUDE_FOLLOWING   3.0
#define	MINIMUM_ALTITUDE_FOLLOWING   1.0

Functions
static void	changeRollYawPhase (int *phaseCounterArg, int *isRollPhaseArg, int *isYawPhaseArg)
static void	increase_nav_heading (float *heading, float increment)
void	follow_me (uint8_t headingToFollow, uint8_t heightObject, uint8_t distanceToObject)

Variables
float	ref_pitch = 0.0
float	ref_roll = 0.0
float	selfie_alt = 1.0

Detailed Description

Author

Roland Follows a person using the reference given by the stereocam. This module does so by changing the yaw angle and roll angle alternatively. This way the drone does not drift away, and keeps looking at the person it tries to follow.

Definition in file follow_me.c.

Macro Definition Documentation

CENTER_IMAGE_HOR

#define CENTER_IMAGE_HOR   65

Definition at line 27 of file follow_me.c.

HEADING_CHANGE_PER_MEASUREMENT

#define HEADING_CHANGE_PER_MEASUREMENT   0.063f

Definition at line 26 of file follow_me.c.

MAXIMUM_ALTITUDE_FOLLOWING

#define MAXIMUM_ALTITUDE_FOLLOWING   3.0

Definition at line 28 of file follow_me.c.

MINIMUM_ALTITUDE_FOLLOWING

#define MINIMUM_ALTITUDE_FOLLOWING   1.0

Definition at line 29 of file follow_me.c.

STEREOCAM_FOLLOW_ME_USE_OPTITRACK

#define STEREOCAM_FOLLOW_ME_USE_OPTITRACK   FALSE

Definition at line 23 of file follow_me.c.

Function Documentation

changeRollYawPhase()

static void changeRollYawPhase ( int *  phaseCounterArg, int *  isRollPhaseArg, int *  isYawPhaseArg  )

static

Definition at line 35 of file follow_me.c.

Referenced by follow_me().

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follow_me()

void follow_me	(	uint8_t	headingToFollow,
		uint8_t	heightObject,
		uint8_t	distanceToObject
	)

Definition at line 62 of file follow_me.c.

References CENTER_IMAGE_HOR, changeRollYawPhase(), RotorcraftNavigation::heading, HEADING_CHANGE_PER_MEASUREMENT, increase_nav_heading(), MAXIMUM_ALTITUDE_FOLLOWING, MINIMUM_ALTITUDE_FOLLOWING, nav, nav_is_in_flight(), ref_pitch, ref_roll, selfie_alt, STEREOCAM_FOLLOW_ME_USE_OPTITRACK, and waypoint_set_alt().

Referenced by stereocam_parse_msg().

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increase_nav_heading()

static void increase_nav_heading ( float *  heading, float  increment  )

static

Definition at line 57 of file follow_me.c.

References heading.

Referenced by follow_me().

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Variable Documentation

ref_pitch

float ref_pitch = 0.0

Definition at line 31 of file follow_me.c.

Referenced by follow_me().

ref_roll

float ref_roll = 0.0

Definition at line 32 of file follow_me.c.

Referenced by follow_me().

selfie_alt

float selfie_alt = 1.0

Definition at line 33 of file follow_me.c.

Referenced by follow_me().