Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
follow_me.h
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1 /*
2  * Copyright (C) 2019 Freek van Tienen <freek.v.tienen@gmail.com>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
26 #ifndef FOLLOW_ME_H
27 #define FOLLOW_ME_H
28 
29 #include "std.h"
30 
33 extern float follow_me_distance;
34 
37 extern float follow_me_height;
38 
41 extern float follow_me_heading;
42 
45 extern float follow_me_min_speed;
46 
49 extern float follow_me_filt;
50 
53 extern float follow_me_diag_speed;
54 
57 extern float follow_me_gps_delay;
58 
61 extern float follow_me_datalink_delay;
62 
65 extern float follow_me_advance_ms;
66 
69 extern float follow_me_min_dist;
70 
73 extern float follow_me_min_height;
74 
77 extern void follow_me_init(void);
78 
81 extern void follow_me_parse_target_pos(uint8_t *buf);
82 
94 extern void follow_me_set_wp(uint8_t wp_id, float speed);
95 
96 #endif
97 
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
follow_me_set_wp
void follow_me_set_wp(uint8_t wp_id, float speed)
run function
Definition: follow_me.c:108
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: follow_me.c:64
follow_me_min_dist
float follow_me_min_dist
Follow me minimum distance in meters when trying to approach with a certain speed.
Definition: follow_me.c:70
std.h
follow_me_datalink_delay
float follow_me_datalink_delay
Follow me datalink delay from the ground GPS packet (in ms)
Definition: follow_me.c:68
follow_me_min_height
float follow_me_min_height
Follow me minimum height in meters when approaching with a speed.
Definition: follow_me.c:71
follow_me_parse_target_pos
void follow_me_parse_target_pos(uint8_t *buf)
on receiving a TARGET_POS message
Definition: follow_me.c:86
follow_me_advance_ms
float follow_me_advance_ms
Follow me waypoint advance time in ms (multiplied by the ground speed)
Definition: follow_me.c:69
follow_me_distance
float follow_me_distance
distance from the ground gps
Definition: follow_me.c:61
follow_me_diag_speed
float follow_me_diag_speed
Diagonal speed for follow me.
Definition: follow_me.c:66
follow_me_filt
float follow_me_filt
Follow me course sin/cos filter value (higher is harder filter)
Definition: follow_me.c:65
follow_me_height
float follow_me_height
height from the ground gps
Definition: follow_me.c:62
follow_me_gps_delay
float follow_me_gps_delay
Follow me GPS delay from the relative positionb packet (in ms)
Definition: follow_me.c:67
follow_me_heading
float follow_me_heading
heading direction in which to hover from (automatically set if ground is exceeding speed)
Definition: follow_me.c:63
follow_me_init
void follow_me_init(void)
init function
Definition: follow_me.c:80