Paparazzi UAS  v6.2.0_stable
Paparazzi is a free software Unmanned Aircraft System.
All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
follow_me module

Follow a ground based object which is transmitting the TARGET_POS datalink message or using RTK GPS.

This can be done using gpsd2ivy.

Example for airframe file

Add to your firmware section:

<module name="follow_me"/>

Module configuration options

Airframe file section

  • section name: FOLLOW_ME prefix: FOLLOW_ME_
    • name TIMEOUT value: 10.
      Description: timeout of the ground GPS
    • name DISTANCE value: 5.
      Description: distance to hover from the ground GPS

Module functions

Init Functions

These initialization functions are called once on startup.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

  • on message TARGET_POS call follow_me_parse_target_pos(buf)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw follow_me.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="follow_me" dir="ctrl">
<doc>
<description>
Follow a ground based object which is transmitting the TARGET_POS datalink message or using RTK GPS.
This can be done using gpsd2ivy.
</description>
<section name="FOLLOW_ME" prefix="FOLLOW_ME_">
<define name="TIMEOUT" value="10." description="timeout of the ground GPS"/>
<define name="DISTANCE" value="5." description="distance to hover from the ground GPS"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="FollowMe">
<dl_setting var="follow_me_distance" min="0." max="50." step="0.1" shortname="distance" unit="m"/>
<dl_setting var="follow_me_height" min="0." max="100." step="0.1" shortname="height" unit="m"/>
<dl_setting var="follow_me_heading" min="0." max="360." step="1.0" shortname="heading"/>
<dl_setting var="follow_me_min_speed" min="0." max="100." step="0.1" shortname="min_speed"/>
<dl_setting var="follow_me_filt" min="0." max="1.0" step="0.01" shortname="filt_val"/>
<dl_setting var="follow_me_diag_speed" min="0." max="1.0" step="0.01" shortname="diag_speed"/>
<dl_setting var="follow_me_gps_delay" min="0." max="10000.0" step="1.0" shortname="gps_delay" unit="ms"/>
<dl_setting var="follow_me_datalink_delay" min="0." max="20000.0" step="1.0" shortname="dlink_delay" unit="ms"/>
<dl_setting var="follow_me_advance_ms" min="0." max="10000.0" step="1.0" shortname="advance" unit="ms"/>
<dl_setting var="follow_me_min_dist" min="0." max="100.0" step="0.1" shortname="min_dist" unit="m"/>
<dl_setting var="follow_me_min_height" min="0." max="100.0" step="0.1" shortname="min_height" unit="m"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="follow_me.h"/>
</header>
<init fun="follow_me_init()"/>
<datalink message="TARGET_POS" fun="follow_me_parse_target_pos(buf)"/>
<makefile>
<file name="follow_me.c"/>
</makefile>
</module>