Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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stereocam2state.c File Reference
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Macros

#define SENDER_ID   1
 
#define STEREOCAM_GPS_ID   ABI_BROADCAST
 ABI binding for gps messages. More...
 
#define USE_DEROTATION_OPTICFLOW   FALSE
 For extra functionality for derotation of velocity to state measurements. More...
 
#define STATE_MEASURE_OPTICFLOW   TRUE
 

Functions

void stereocam_to_state (float dphi, float dtheta)
 
static void stereocam_gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
 
void stereo_to_state_init (void)
 
void stereo_to_state_periodic (void)
 

Variables

static abi_event gps_ev
 
static float prev_phi
 
static float prev_theta
 
struct GpsStereoCam gps_stereocam
 

Detailed Description

Author
Kimberly McGuire This module sends the data retreived from an external stereocamera modules, to the state filter of the drone. This is done so that the guidance modules can use that information for couadcopter

Definition in file stereocam2state.c.

Macro Definition Documentation

#define SENDER_ID   1

Definition at line 21 of file stereocam2state.c.

Referenced by stereocam_to_state().

#define STATE_MEASURE_OPTICFLOW   TRUE

Definition at line 36 of file stereocam2state.c.

#define STEREOCAM_GPS_ID   ABI_BROADCAST

ABI binding for gps messages.

Definition at line 26 of file stereocam2state.c.

Referenced by stereo_to_state_init().

#define USE_DEROTATION_OPTICFLOW   FALSE

For extra functionality for derotation of velocity to state measurements.

Definition at line 33 of file stereocam2state.c.

Function Documentation

void stereo_to_state_init ( void  )

Definition at line 56 of file stereocam2state.c.

References stereocam_gps_cb(), and STEREOCAM_GPS_ID.

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void stereo_to_state_periodic ( void  )

Definition at line 62 of file stereocam2state.c.

References uint8array::fresh, FloatEulers::phi, prev_phi, prev_theta, stateGetNedToBodyEulers_f(), stereocam_data, stereocam_to_state(), and FloatEulers::theta.

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static void stereocam_gps_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct GpsState gps_s 
)
static

Definition at line 46 of file stereocam2state.c.

References GpsStereoCam::ecef_vel, GpsState::ecef_vel, gps_stereocam, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by stereo_to_state_init().

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void stereocam_to_state ( float  dphi,
float  dtheta 
)

Variable Documentation

abi_event gps_ev
static

Definition at line 28 of file stereocam2state.c.

struct GpsStereoCam gps_stereocam

Definition at line 42 of file stereocam2state.c.

Referenced by stereocam_gps_cb(), and stereocam_to_state().

float prev_phi
static

Definition at line 39 of file stereocam2state.c.

Referenced by stereo_to_state_periodic().

float prev_theta
static

Definition at line 40 of file stereocam2state.c.

Referenced by stereo_to_state_periodic().