Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
follow_me.h File Reference
#include "std.h"
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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
 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_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 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 80 of file follow_me.c.

References ground_set, and ground_time_msec.

◆ follow_me_parse_target_pos()

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.

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◆ follow_me_set_wp()

void follow_me_set_wp ( uint8_t  wp_id,
float  speed 
)

Variable Documentation

◆ follow_me_advance_ms

float follow_me_advance_ms

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

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

Diagonal speed for follow me.

Definition at line 66 of file follow_me.c.

◆ follow_me_distance

float follow_me_distance

distance from the ground gps

Definition at line 61 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_filt

float 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().

◆ follow_me_gps_delay

float follow_me_gps_delay

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().

◆ follow_me_heading

float follow_me_heading

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().

◆ follow_me_height

float follow_me_height

height from the ground gps

Definition at line 62 of file follow_me.c.

Referenced by follow_me_set_wp().

◆ follow_me_min_dist

float follow_me_min_dist

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

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().

◆ follow_me_min_speed

float 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().