Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
object_tracking.h File Reference
#include "std.h"
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Functions

void object_tracking_init (void)
 init function More...
 
void object_tracking_run (void)
 run function More...
 

Variables

float object_tracking_rate
 max turn rate in control mode in rad/s More...
 
float object_tracking_search_rate
 max turn rate in search mode in rad/s More...
 

Detailed Description

Author
Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Control a rotorcraft heading to track an object detected by a camera

Definition in file object_tracking.h.

Function Documentation

◆ object_tracking_init()

void object_tracking_init ( void  )

◆ object_tracking_run()

void object_tracking_run ( void  )

run function

should be called in a flight plan stay block using pre_call

ex: <block name="Track Object"> <stay wp="STDBY" pre_call="object_tracking_run()"> </block>

Definition at line 102 of file object_tracking.c.

References DefaultChannel, DefaultDevice, FLOAT_ANGLE_NORMALIZE, RotorcraftNavigation::heading, msg, nav, nav_dt, NormCourseRad, object_bearing, object_frame, object_height, object_tracking_rate, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, FloatEulers::psi, stateGetNedToBodyEulers_f(), and timeout.

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Variable Documentation

◆ object_tracking_rate

float object_tracking_rate
extern

max turn rate in control mode in rad/s

Definition at line 64 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().

◆ object_tracking_search_rate

float object_tracking_search_rate
extern

max turn rate in search mode in rad/s

Definition at line 65 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().