Paparazzi UAS
v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.

Go to the source code of this file.
Macros  
#define  FOLLOW_ME_DISTANCE 45 
#define  FOLLOW_ME_HEIGHT 75 
#define  FOLLOW_ME_MIN_SPEED 1.0f 
#define  FOLLOW_ME_GPS_TIMEOUT 5000 
#define  FOLLOW_ME_GROUND_TIMEOUT 5000 
#define  FOLLOW_ME_FILT 0.9 
Functions  
void  follow_me_init (void) 
init function More...  
void  follow_me_parse_target_pos (uint8_t *buf) 
on receiving a TARGET_POS message More...  
void  follow_me_set_wp (uint8_t wp_id, float speed) 
run function More...  
Variables  
float  follow_me_distance = FOLLOW_ME_DISTANCE 
distance from the ground gps More...  
float  follow_me_height = FOLLOW_ME_HEIGHT 
height from the ground gps More...  
float  follow_me_heading = 0. 
heading direction in which to hover from (automatically set if ground is exceeding speed) More...  
float  follow_me_min_speed = FOLLOW_ME_MIN_SPEED 
minimum speed in m/s which the ground needs to have in order to update the heading More...  
float  follow_me_filt = FOLLOW_ME_FILT 
Follow me course sin/cos filter value (higher is harder filter) More...  
float  follow_me_diag_speed = 1.0 
Diagonal speed for follow me. More...  
float  follow_me_gps_delay = 200 
Follow me GPS delay from the relative positionb packet (in ms) More...  
float  follow_me_datalink_delay = 600 
Follow me datalink delay from the ground GPS packet (in ms) More...  
float  follow_me_advance_ms = 800 
Follow me waypoint advance time in ms (multiplied by the ground speed) More...  
float  follow_me_min_dist = 1 
Follow me minimum distance in meters when trying to approach with a certain speed. More...  
float  follow_me_min_height = 30 
Follow me minimum height in meters when approaching with a speed. More...  
static uint32_t  ground_time_msec = 0 
static bool  ground_set = false 
static struct LlaCoor_i  ground_lla 
static float  ground_speed 
static float  ground_climb 
static float  ground_course 
Definition in file follow_me.c.
#define FOLLOW_ME_DISTANCE 45 
Definition at line 33 of file follow_me.c.
#define FOLLOW_ME_FILT 0.9 
Definition at line 58 of file follow_me.c.
#define FOLLOW_ME_GPS_TIMEOUT 5000 
Definition at line 48 of file follow_me.c.
#define FOLLOW_ME_GROUND_TIMEOUT 5000 
Definition at line 53 of file follow_me.c.
#define FOLLOW_ME_HEIGHT 75 
Definition at line 38 of file follow_me.c.
#define FOLLOW_ME_MIN_SPEED 1.0f 
Definition at line 43 of file follow_me.c.
void follow_me_init  (  void  ) 
init function
Definition at line 80 of file follow_me.c.
References ground_set, and ground_time_msec.
void follow_me_parse_target_pos  (  uint8_t *  buf  ) 
on receiving a TARGET_POS message
Definition at line 86 of file follow_me.c.
References LlaCoor_i::alt, f, follow_me_heading, follow_me_min_speed, get_sys_time_msec(), ground_climb, ground_course, ground_lla, ground_set, ground_speed, ground_time_msec, LlaCoor_i::lat, and LlaCoor_i::lon.
void follow_me_set_wp  (  uint8_t  wp_id, 
float  speed  
) 
run function
should be called in a flight plan stay block using pre_call will only set the x and y position and not the height
ex: <block name="Track Object"> <stay wp="STDBY" pre_call="object_tracking_run(WP_STDBY)"> </block>
Definition at line 108 of file follow_me.c.
References DefaultChannel, DefaultDevice, ENU_OF_TO_NED, f, follow_me_advance_ms, follow_me_datalink_delay, FOLLOW_ME_DISTANCE, follow_me_distance, follow_me_filt, follow_me_gps_delay, FOLLOW_ME_GPS_TIMEOUT, FOLLOW_ME_GROUND_TIMEOUT, follow_me_heading, FOLLOW_ME_HEIGHT, follow_me_height, follow_me_min_dist, follow_me_min_height, get_sys_time_msec(), gps, gps_tow_from_sys_ticks(), ground_course, ground_lla, ground_set, ground_speed, ground_time_msec, sys_time::nb_tick, State::ned_initialized_i, ned_of_lla_point_i(), State::ned_origin_i, state, stateGetPositionNed_f(), GpsState::valid_fields, waypoint_set_enu(), waypoints, point::x, NedCoor_f::x, NedCoor_i::x, point::y, NedCoor_f::y, NedCoor_i::y, NedCoor_f::z, and NedCoor_i::z.
float follow_me_advance_ms = 800 
Follow me waypoint advance time in ms (multiplied by the ground speed)
Definition at line 69 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_datalink_delay = 600 
Follow me datalink delay from the ground GPS packet (in ms)
Definition at line 68 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_diag_speed = 1.0 
Diagonal speed for follow me.
Definition at line 66 of file follow_me.c.
float follow_me_distance = FOLLOW_ME_DISTANCE 
distance from the ground gps
Definition at line 61 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_filt = FOLLOW_ME_FILT 
Follow me course sin/cos filter value (higher is harder filter)
Definition at line 65 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_gps_delay = 200 
Follow me GPS delay from the relative positionb packet (in ms)
Definition at line 67 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_heading = 0. 
heading direction in which to hover from (automatically set if ground is exceeding speed)
Definition at line 63 of file follow_me.c.
Referenced by follow_me_parse_target_pos(), and follow_me_set_wp().
float follow_me_height = FOLLOW_ME_HEIGHT 
height from the ground gps
Definition at line 62 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_min_dist = 1 
Follow me minimum distance in meters when trying to approach with a certain speed.
Definition at line 70 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_min_height = 30 
Follow me minimum height in meters when approaching with a speed.
Definition at line 71 of file follow_me.c.
Referenced by follow_me_set_wp().
float follow_me_min_speed = FOLLOW_ME_MIN_SPEED 
minimum speed in m/s which the ground needs to have in order to update the heading
Definition at line 64 of file follow_me.c.
Referenced by follow_me_parse_target_pos().

static 
Definition at line 77 of file follow_me.c.
Referenced by follow_me_parse_target_pos().

static 
Definition at line 78 of file follow_me.c.
Referenced by follow_me_parse_target_pos(), and follow_me_set_wp().

static 
Definition at line 75 of file follow_me.c.
Referenced by follow_me_parse_target_pos(), and follow_me_set_wp().

static 
Definition at line 74 of file follow_me.c.
Referenced by follow_me_init(), follow_me_parse_target_pos(), and follow_me_set_wp().

static 
Definition at line 76 of file follow_me.c.
Referenced by follow_me_parse_target_pos(), follow_me_set_wp(), gvf_low_level_control_2D(), gvf_low_level_getState(), gvf_parametric_control_2D(), gvf_parametric_control_3D(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), and snav_on_time().

static 
Definition at line 73 of file follow_me.c.
Referenced by follow_me_init(), follow_me_parse_target_pos(), and follow_me_set_wp().