Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
tag_tracking.c File Reference
#include "modules/computer_vision/tag_tracking.h"
#include "modules/sensors/cameras/jevois.h"
#include "filters/simple_kinematic_kalman.h"
#include "generated/modules.h"
#include "state.h"
#include "modules/core/abi.h"
#include <math.h>
#include "modules/datalink/downlink.h"
#include "generated/flight_plan.h"
+ Include dependency graph for tag_tracking.c:

Go to the source code of this file.

Data Structures

struct  tag_tracking
 
struct  tag_info
 
struct  wp_tracking
 

Macros

#define TAG_TRACKING_BODY_TO_CAM_PHI   0.f
 
#define TAG_TRACKING_BODY_TO_CAM_THETA   0.f
 
#define TAG_TRACKING_BODY_TO_CAM_PSI   M_PI_2
 
#define TAG_TRACKING_CAM_POS_X   0.f
 
#define TAG_TRACKING_CAM_POS_Y   0.f
 
#define TAG_TRACKING_CAM_POS_Z   0.f
 
#define TAG_TRACKING_COORD_TO_M   (1.f / 1000.f)
 
#define TAG_TRACKING_R   1.f
 
#define TAG_TRACKING_Q_SIGMA2   1.f
 
#define TAG_TRACKING_P0_POS   10.f
 
#define TAG_TRACKING_P0_SPEED   10.f
 
#define TAG_TRACKING_TIMEOUT   5.f
 
#define TAG_TRACKING_PREDICT_TIME   1.f
 
#define TAG_TRACKING_MAX_OFFSET   2.0f
 
#define TAG_TRACKING_KP   0.5f
 
#define TAG_TRACKING_KPZ   0.2f
 
#define TAG_TRACKING_MAX_SPEED   4.f
 
#define TAG_TRACKING_MAX_VZ   2.f
 
#define TAG_TRACKING_NB_WP_MAX   1
 
#define TAG_UNUSED_ID   -1
 
#define TAG_TRACKING_ID   ABI_BROADCAST
 

Functions

static void tag_tracking_propagate_start_tag (struct tag_info *tag_info)
 
struct tag_tracking_publictag_tracking_get (uint8_t tag_id)
 
static void update_tag_position (struct tag_info *tag_info)
 
static void tag_track_cb (uint8_t sender_id UNUSED, uint8_t type, char *id, uint8_t nb UNUSED, int16_t *coord, uint16_t *dim UNUSED, struct FloatQuat quat UNUSED, char *extra UNUSED)
 
void tag_tracking_parse_target_pos (uint8_t *buf)
 
static void update_wp (struct tag_info *tag_info, bool report UNUSED)
 
void tag_tracking_init ()
 
void tag_tracking_propagate ()
 
void tag_tracking_propagate_start ()
 
void tag_tracking_report ()
 
void tag_tracking_compute_speed (void)
 Control function. More...
 
void tag_tracking_set_motion_type (float motion_type)
 
void tag_tracking_set_predict_time (float predict_time)
 
void tag_tracking_set_kp (float kp)
 
void tag_tracking_set_kpz (float kpz)
 
void tag_tracking_set_setting_id (float id)
 

Variables

static const float tag_track_dt = TAG_TRACKING_PROPAGATE_PERIOD
 
struct wp_tracking wp_track [TAG_TRACKING_NB_WP_MAX] = {0}
 
struct tag_info tag_infos [TAG_TRACKING_NB_MAX]
 
struct tag_tracking_public dummy = {0}
 
static abi_event tag_track_ev
 
int tag_tracking_setting_id
 
float tag_tracking_motion_type
 
float tag_tracking_predict_time
 
float tag_tracking_kp
 
float tag_tracking_kpz
 

Data Structure Documentation

◆ tag_tracking

struct tag_tracking

Definition at line 161 of file tag_tracking.c.

+ Collaboration diagram for tag_tracking:
Data Fields
struct FloatRMat body_to_cam Body to camera rotation.
struct FloatVect3 cam_pos Position of camera in body frame.
int16_t id ID of detected tag.
struct FloatVect3 meas measured position
float timeout timeout for lost flag [sec]
bool updated updated state

◆ tag_info

struct tag_info

Definition at line 175 of file tag_tracking.c.

+ Collaboration diagram for tag_info:
Data Fields
struct SimpleKinematicKalman kalman
struct tag_tracking tag_track_private
struct tag_tracking_public tag_tracking
uint8_t wp_id

◆ wp_tracking

struct wp_tracking

Definition at line 182 of file tag_tracking.c.

Data Fields
uint8_t tag_id
uint8_t wp_id

Macro Definition Documentation

◆ TAG_TRACKING_BODY_TO_CAM_PHI

#define TAG_TRACKING_BODY_TO_CAM_PHI   0.f

Definition at line 80 of file tag_tracking.c.

◆ TAG_TRACKING_BODY_TO_CAM_PSI

#define TAG_TRACKING_BODY_TO_CAM_PSI   M_PI_2

Definition at line 88 of file tag_tracking.c.

◆ TAG_TRACKING_BODY_TO_CAM_THETA

#define TAG_TRACKING_BODY_TO_CAM_THETA   0.f

Definition at line 84 of file tag_tracking.c.

◆ TAG_TRACKING_CAM_POS_X

#define TAG_TRACKING_CAM_POS_X   0.f

Definition at line 92 of file tag_tracking.c.

◆ TAG_TRACKING_CAM_POS_Y

#define TAG_TRACKING_CAM_POS_Y   0.f

Definition at line 96 of file tag_tracking.c.

◆ TAG_TRACKING_CAM_POS_Z

#define TAG_TRACKING_CAM_POS_Z   0.f

Definition at line 100 of file tag_tracking.c.

◆ TAG_TRACKING_COORD_TO_M

#define TAG_TRACKING_COORD_TO_M   (1.f / 1000.f)

Definition at line 104 of file tag_tracking.c.

◆ TAG_TRACKING_ID

#define TAG_TRACKING_ID   ABI_BROADCAST

Definition at line 202 of file tag_tracking.c.

◆ TAG_TRACKING_KP

#define TAG_TRACKING_KP   0.5f

Definition at line 136 of file tag_tracking.c.

◆ TAG_TRACKING_KPZ

#define TAG_TRACKING_KPZ   0.2f

Definition at line 140 of file tag_tracking.c.

◆ TAG_TRACKING_MAX_OFFSET

#define TAG_TRACKING_MAX_OFFSET   2.0f

Definition at line 132 of file tag_tracking.c.

◆ TAG_TRACKING_MAX_SPEED

#define TAG_TRACKING_MAX_SPEED   4.f

Definition at line 144 of file tag_tracking.c.

◆ TAG_TRACKING_MAX_VZ

#define TAG_TRACKING_MAX_VZ   2.f

Definition at line 148 of file tag_tracking.c.

◆ TAG_TRACKING_NB_WP_MAX

#define TAG_TRACKING_NB_WP_MAX   1

Definition at line 152 of file tag_tracking.c.

◆ TAG_TRACKING_P0_POS

#define TAG_TRACKING_P0_POS   10.f

Definition at line 116 of file tag_tracking.c.

◆ TAG_TRACKING_P0_SPEED

#define TAG_TRACKING_P0_SPEED   10.f

Definition at line 120 of file tag_tracking.c.

◆ TAG_TRACKING_PREDICT_TIME

#define TAG_TRACKING_PREDICT_TIME   1.f

Definition at line 128 of file tag_tracking.c.

◆ TAG_TRACKING_Q_SIGMA2

#define TAG_TRACKING_Q_SIGMA2   1.f

Definition at line 112 of file tag_tracking.c.

◆ TAG_TRACKING_R

#define TAG_TRACKING_R   1.f

Definition at line 108 of file tag_tracking.c.

◆ TAG_TRACKING_TIMEOUT

#define TAG_TRACKING_TIMEOUT   5.f

Definition at line 124 of file tag_tracking.c.

◆ TAG_UNUSED_ID

#define TAG_UNUSED_ID   -1

Definition at line 155 of file tag_tracking.c.

Function Documentation

◆ tag_track_cb()

static void tag_track_cb ( uint8_t sender_id  UNUSED,
uint8_t  type,
char *  id,
uint8_t nb  UNUSED,
int16_t coord,
uint16_t *dim  UNUSED,
struct FloatQuat quat  UNUSED,
char *extra  UNUSED 
)
static

◆ tag_tracking_compute_speed()

void tag_tracking_compute_speed ( void  )

Control function.

calling this function only updates the command vector it can be applied to the guidance control using the guided mode or from the flight plan with 'guided' instruction

Definition at line 476 of file tag_tracking.c.

References FLOAT_VECT3_ZERO, tag_tracking_public::kp, tag_tracking_public::kpz, tag_tracking_public::pos, tag_tracking_public::speed, tag_tracking_public::speed_cmd, stateGetPositionNed_f(), tag_infos, tag_info::tag_tracking, TAG_TRACKING_MAX_SPEED, TAG_TRACKING_MAX_VZ, TAG_TRACKING_NB_MAX, TAG_TRACKING_RUNNING, VECT2_STRIM, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

+ Here is the call graph for this function:

◆ tag_tracking_get()

◆ tag_tracking_init()

◆ tag_tracking_parse_target_pos()

void tag_tracking_parse_target_pos ( uint8_t buf)

◆ tag_tracking_propagate()

◆ tag_tracking_propagate_start()

void tag_tracking_propagate_start ( void  )

Definition at line 428 of file tag_tracking.c.

References tag_infos, TAG_TRACKING_NB_MAX, and tag_tracking_propagate_start_tag().

+ Here is the call graph for this function:

◆ tag_tracking_propagate_start_tag()

static void tag_tracking_propagate_start_tag ( struct tag_info tag_info)
static

◆ tag_tracking_report()

◆ tag_tracking_set_kp()

void tag_tracking_set_kp ( float  kp)

◆ tag_tracking_set_kpz()

void tag_tracking_set_kpz ( float  kpz)

◆ tag_tracking_set_motion_type()

void tag_tracking_set_motion_type ( float  motion_type)

◆ tag_tracking_set_predict_time()

void tag_tracking_set_predict_time ( float  predict_time)

◆ tag_tracking_set_setting_id()

void tag_tracking_set_setting_id ( float  id)

Definition at line 630 of file tag_tracking.c.

◆ update_tag_position()

◆ update_wp()

static void update_wp ( struct tag_info tag_info,
bool report  UNUSED 
)
static

Variable Documentation

◆ dummy

struct tag_tracking_public dummy = {0}

Definition at line 158 of file tag_tracking.c.

Referenced by send_rate(), stmi2c_clear_pending_interrupts(), and tag_tracking_get().

◆ tag_infos

◆ tag_track_dt

const float tag_track_dt = TAG_TRACKING_PROPAGATE_PERIOD
static

Definition at line 158 of file tag_tracking.c.

Referenced by tag_tracking_propagate(), and tag_tracking_propagate_start_tag().

◆ tag_track_ev

abi_event tag_track_ev
static

Definition at line 205 of file tag_tracking.c.

Referenced by tag_tracking_init().

◆ tag_tracking_kp

float tag_tracking_kp

Definition at line 586 of file tag_tracking.c.

Referenced by tag_tracking_set_kp().

◆ tag_tracking_kpz

float tag_tracking_kpz

Definition at line 587 of file tag_tracking.c.

Referenced by tag_tracking_set_kpz().

◆ tag_tracking_motion_type

float tag_tracking_motion_type

Definition at line 584 of file tag_tracking.c.

Referenced by tag_tracking_set_motion_type().

◆ tag_tracking_predict_time

float tag_tracking_predict_time

Definition at line 585 of file tag_tracking.c.

Referenced by tag_tracking_set_predict_time().

◆ tag_tracking_setting_id

int tag_tracking_setting_id

◆ wp_track

struct wp_tracking wp_track[TAG_TRACKING_NB_WP_MAX] = {0}

Definition at line 158 of file tag_tracking.c.

Referenced by tag_tracking_init().