follow_me.h File Reference

#include "std.h"

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Functions
void	follow_me_init (void)
	init function More...
void	follow_me_periodic (void)
	periodic 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
	distance from the ground gps More...
float	follow_me_height
	height from the ground gps More...
float	follow_me_heading
	heading direction in which to hover from (automatically set if ground is exceeding speed) More...
float	follow_me_filt
	Follow me course sin/cos filter value (higher is harder filter) More...
float	follow_me_diag_speed
	Diagonal speed for follow me. More...
float	follow_me_gps_delay
	Follow me GPS delay from the relative positionb packet (in ms) More...
float	follow_me_datalink_delay
	Follow me datalink delay from the ground GPS packet (in ms) More...
float	follow_me_advance_ms
	Follow me waypoint advance time in ms (multiplied by the ground speed) More...
float	follow_me_min_dist
	Follow me minimum distance in meters when trying to approach with a certain speed. More...
float	follow_me_min_height
	Follow me minimum height in meters when approaching with a speed. More...

Detailed Description

Author

Freek van Tienen freek.nosp@m..v.t.nosp@m.ienen.nosp@m.@gma.nosp@m.il.co.nosp@m.m Control a rotorcraft to follow at a defined distance from the target

Definition in file follow_me.h.

Function Documentation

follow_me_init()

void follow_me_init

(

void

)

init function

Definition at line 87 of file follow_me.c.

References ground_set, ground_time_msec, last_targetpos_valid, moving_wps, and moving_wps_cnt.

follow_me_parse_target_pos()

void follow_me_parse_target_pos

(

uint8_t *

buf

)

on receiving a TARGET_POS message

Definition at line 147 of file follow_me.c.

References LlaCoor_i::alt, get_sys_time_msec(), ground_climb, ground_course, ground_heading, ground_lla, ground_set, ground_speed, ground_time_msec, LlaCoor_i::lat, and LlaCoor_i::lon.

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follow_me_periodic()

void follow_me_periodic

(

void

)

periodic function

Definition at line 95 of file follow_me.c.

References DefaultChannel, DefaultDevice, enu_of_lla_point_i(), ground_heading, ground_lla, ground_set, last_targetpos, last_targetpos_heading, last_targetpos_valid, moving_wps, moving_wps_cnt, stateGetNedOrigin_i(), VECT3_COPY, VECT3_DIFF, VECT3_FLOAT_OF_CM, waypoint_get_enu_f(), waypoint_set_enu(), waypoints, EnuCoor_f::x, point::x, EnuCoor_f::y, point::y, and EnuCoor_f::z.

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follow_me_set_wp()

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 170 of file follow_me.c.

References DefaultChannel, DefaultDevice, ENU_OF_TO_NED, follow_me_advance_ms, follow_me_datalink_delay, FOLLOW_ME_DISTANCE, follow_me_distance, follow_me_filt, 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(), ground_course, ground_heading, ground_lla, ground_set, ground_speed, ground_time_msec, State::ned_initialized_i, ned_of_lla_point_i(), state, stateGetNedOrigin_i(), waypoint_set_enu(), waypoints, NedCoor_f::x, NedCoor_i::x, point::x, NedCoor_f::y, NedCoor_i::y, point::y, NedCoor_f::z, and NedCoor_i::z.

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Variable Documentation

follow_me_advance_ms

float follow_me_advance_ms

extern

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().

follow_me_datalink_delay

float follow_me_datalink_delay

extern

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().

follow_me_diag_speed

float follow_me_diag_speed

extern

Diagonal speed for follow me.

Definition at line 66 of file follow_me.c.

follow_me_distance

float follow_me_distance

extern

distance from the ground gps

Definition at line 62 of file follow_me.c.

Referenced by follow_me_set_wp().

follow_me_filt

float follow_me_filt

extern

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().

follow_me_gps_delay

float follow_me_gps_delay

extern

Follow me GPS delay from the relative positionb packet (in ms)

Definition at line 67 of file follow_me.c.

follow_me_heading

float follow_me_heading

extern

heading direction in which to hover from (automatically set if ground is exceeding speed)

Definition at line 64 of file follow_me.c.

Referenced by follow_me_set_wp().

follow_me_height

float follow_me_height

extern

height from the ground gps

Definition at line 63 of file follow_me.c.

Referenced by follow_me_set_wp().

follow_me_min_dist

float follow_me_min_dist

extern

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().

follow_me_min_height

float follow_me_min_height

extern

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().