target_pos module

Target position calculation

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="target_pos"/>

Module configuration options

Airframe file section

• section name: TARGET_POS prefix: TARGET_
  • name POS_TIMEOUT value: 5000
    Description: timeout of the ground target position message in msec
  • name OFFSET_HEADING value: 180.
    Description: target offset heading in degrees
  • name OFFSET_DISTANCE value: 10.
    Description: target offset distance in meters
  • name OFFSET_HEIGHT value: 10.
    Description: target offset height in meters
  • name TARGET_INTEGRATE_XY value: true
    Description: enable target position xy (North/East) integration
  • name TARGET_INTEGRATE_Z value: true
    Description: enable target position z (North/East) integration

Module functions

Init Functions

These initialization functions are called once on startup.

• target_pos_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message TARGET_POS call target_parse_target_pos(buf)

Files

Header Files

The following headers are automatically included in modules.h

• target_pos.h

Source Files

• modules/ctrl/target_pos.c

Raw target_pos.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="target_pos" dir="ctrl">
  <doc>
    <description>
      Target position calculation
    </description>
    <section name="TARGET_POS" prefix="TARGET_">
      <define name="POS_TIMEOUT" value="5000" description="timeout of the ground target position message in msec"/>
      <define name="OFFSET_HEADING" value="180." description="target offset heading in degrees"/>
      <define name="OFFSET_DISTANCE" value="10." description="target offset distance in meters"/>
      <define name="OFFSET_HEIGHT" value="10." description="target offset height in meters"/>
      <define name="TARGET_INTEGRATE_XY" value="true" description="enable target position xy (North/East) integration"/>
      <define name="TARGET_INTEGRATE_Z" value="true" description="enable target position z (North/East) integration"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="TargetPos">
        <dl_setting var="target.offset.distance" min="0." max="100." step="0.1" shortname="distance" unit="m"/>
        <dl_setting var="target.offset.height" min="-10." max="200." step="0.1" shortname="height" unit="m"/>
        <!-- Heading relative wrt. the ship!! -->
        <dl_setting var="target.offset.heading" min="0." max="360." step="1.0" shortname="heading_wrt_ship"/>
        <dl_setting var="target.integrate_xy" min="0" max="1" step="1" shortname="integrate_xy" values="OFF|ON"/>
        <dl_setting var="target.target_pos_timeout" min="0" max="30000" step="100" shortname="target_pos_timeout"/>
        <dl_setting var="target.rtk_timeout" min="0" max="30000" step="100" shortname="rtk_timeout"/>
        <dl_setting var="target.offset.heading" min="0." max="360." step="1.0" type="float" shortname ="set_current" module="modules/ctrl/target_pos" handler="set_current_offset"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="target_pos.h"/>
  </header>
  <init fun="target_pos_init()"/>
  <datalink message="TARGET_POS" fun="target_parse_target_pos(buf)"/>
  <makefile>
    <file name="target_pos.c"/>
  </makefile>
</module>