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 or ublox2ivy.

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
  • name HEIGHT value: 60
    Description: height to hover above the ground GPS
  • name GPS_TIMEOUT value: 5000
    Description: RTK relative position timeout in ms
  • name GROUND_TIMEOUT value: 5000
    Description: ground position timeout in ms
  • name FILT value: 0.9
    Description: filtering of the heading cos/sin (higher is harder)
  • name MOVING_WPS value:
    Description: list of waypoints comma seperated which should move

Module functions

Init Functions

These initialization functions are called once on startup.

• follow_me_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• follow_me_periodic()
  • Frequency in Hz: 1
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

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

• follow_me.h

Source Files

• modules/ctrl/follow_me.c

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 or ublox2ivy.
    </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"/>
      <define name="HEIGHT" value="60" description="height to hover above the ground GPS"/>
      <define name="GPS_TIMEOUT" value="5000" description="RTK relative position timeout in ms"/>
      <define name="GROUND_TIMEOUT" value="5000" description="ground position timeout in ms"/>
      <define name="FILT" value="0.9" description="filtering of the heading cos/sin (higher is harder)"/>
      <define name="MOVING_WPS" value="" description="list of waypoints comma seperated which should move"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="FollowMe">
        <dl_setting var="follow_me_distance" min="0." max="400" step="1.0" 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_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()"/>
  <periodic fun="follow_me_periodic()" freq="1"/>
  <datalink message="TARGET_POS" fun="follow_me_parse_target_pos(buf)"/>
  <makefile>
    <file name="follow_me.c"/>
  </makefile>
</module>