approach_moving_target module

Approach a moving target (e.g

ship) along a diagonal.

Example for airframe file

Add to your firmware section:

<module name="approach_moving_target"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• approach_moving_target_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• follow_diagonal_approach()
  • Frequency in Hz: 100.0
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• approach_moving_target.h

Source Files

• modules/ctrl/approach_moving_target.c

Raw approach_moving_target.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="approach_moving_target" dir="ctrl">
  <doc>
    <description>
      Approach a moving target (e.g. ship) along a diagonal.
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Approach">
        <dl_setting var="amt.psi_ref" min="-180." max="180." step="1.0" shortname="psi_app" unit="degrees"/>
        <dl_setting var="amt.slope_ref" min="0." max="80." step="1.0" shortname="slope_app" unit="degrees"/>
        <dl_setting var="amt.speed" min="-5.0" max="5." step="0.1" shortname="speed" unit="m/s"/>
        <dl_setting var="amt.distance" min="0.0" max="200." step="1.0" shortname="dist" unit="m"/>
        <dl_setting var="amt_err_slowdown_gain" min="0.0" max="4." step="0.01" shortname="slwdn_gain"/>
        <dl_setting var="amt.pos_gain" min="0.05" max="3.0" step="0.01" shortname="pos_gain"/>
        <dl_setting var="amt.speed_gain" min="0.0" max="1.0" step="0.01" shortname="speed_gain"/>
        <dl_setting var="amt.relvel_gain" min="0.0" max="1.0" step="0.01" shortname="relvel_gain"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>target_pos</depends>
  </dep>
  <header>
    <file name="approach_moving_target.h"/>
  </header>
  <init fun="approach_moving_target_init()"/>
  <periodic fun="follow_diagonal_approach()" freq="100.0"/>
  <makefile>
    <file name="approach_moving_target.c"/>
  </makefile>
</module>