follow_me.h File Reference

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

Variables
float	ref_pitch
float	ref_roll
float	selfie_alt

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.h.

Function Documentation

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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Variable Documentation

ref_pitch

float ref_pitch

extern

Definition at line 103 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), follow_me(), OA_update(), and pingpong_euler().

ref_roll

float ref_roll

extern

Definition at line 104 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), follow_me(), OA_update(), and pingpong_euler().

selfie_alt

float selfie_alt

extern

Definition at line 33 of file follow_me.c.

Referenced by follow_me().