tag_tracking.h File Reference

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"

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Data Structures
struct	tag_tracking_public

Macros
#define	TAG_TRACKING_SEARCHING   0
#define	TAG_TRACKING_RUNNING   1
#define	TAG_TRACKING_LOST   2
#define	TAG_TRACKING_DISABLE   3
#define	TAG_TRACKING_FIXED_POS   0
#define	TAG_TRACKING_MOVING   1

Functions
void	tag_tracking_init (void)
void	tag_tracking_propagate (void)
void	tag_tracking_propagate_start (void)
void	tag_tracking_report (void)
void	tag_tracking_parse_target_pos (uint8_t *buf)
void	tag_tracking_compute_speed (void)
	Control function. More...

Variables
struct tag_tracking_public	tag_tracking

---

Data Structure Documentation

tag_tracking_public

struct tag_tracking_public

Definition at line 47 of file tag_tracking.h.

Collaboration diagram for tag_tracking_public:

Data Fields
float	kp	horizontal tracking command gain
float	kpz	vertical tracking command gain
uint8_t	motion_type	type of tag motion
struct FloatVect3	pos	estimated position
float	predict_time	prediction time for WP tag
struct FloatVect3	speed	estimated speed
struct NedCoor_f	speed_cmd	speed command to track the tag position
uint8_t	status	tracking status flag

Macro Definition Documentation

TAG_TRACKING_DISABLE

#define TAG_TRACKING_DISABLE   3

Definition at line 40 of file tag_tracking.h.

TAG_TRACKING_FIXED_POS

#define TAG_TRACKING_FIXED_POS   0

Definition at line 44 of file tag_tracking.h.

TAG_TRACKING_LOST

#define TAG_TRACKING_LOST   2

Definition at line 39 of file tag_tracking.h.

TAG_TRACKING_MOVING

#define TAG_TRACKING_MOVING   1

Definition at line 45 of file tag_tracking.h.

TAG_TRACKING_RUNNING

#define TAG_TRACKING_RUNNING   1

Definition at line 38 of file tag_tracking.h.

TAG_TRACKING_SEARCHING

#define TAG_TRACKING_SEARCHING   0

Definition at line 37 of file tag_tracking.h.

Function Documentation

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 393 of file tag_tracking.c.

tag_tracking_init()

void tag_tracking_init

(

void

)

Definition at line 276 of file tag_tracking.c.

References tag_tracking::body_to_cam, tag_tracking::cam_pos, float_rmat_of_eulers, FLOAT_VECT3_ZERO, tag_tracking::meas, tag_track_cb(), tag_track_ev, tag_track_private, TAG_TRACKING_BODY_TO_CAM_PHI, TAG_TRACKING_BODY_TO_CAM_PSI, TAG_TRACKING_BODY_TO_CAM_THETA, TAG_TRACKING_CAM_POS_X, TAG_TRACKING_CAM_POS_Y, TAG_TRACKING_CAM_POS_Z, TAG_TRACKING_FIXED_POS, TAG_TRACKING_ID, TAG_TRACKING_KP, TAG_TRACKING_KPZ, TAG_TRACKING_PREDICT_TIME, TAG_TRACKING_SEARCHING, tag_tracking::timeout, tag_tracking::updated, and VECT3_ASSIGN.

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tag_tracking_parse_target_pos()

void tag_tracking_parse_target_pos

(

uint8_t *

buf

)

Definition at line 236 of file tag_tracking.c.

References tag_tracking::id, tag_tracking::meas, tag_track_private, TAG_TRACKING_COORD_TO_M, tag_tracking::timeout, update_tag_position(), tag_tracking::updated, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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tag_tracking_propagate()

void tag_tracking_propagate

(

void

)

Definition at line 308 of file tag_tracking.c.

References kalman, simple_kinematic_kalman_get_state(), simple_kinematic_kalman_predict(), SIMPLE_KINEMATIC_KALMAN_SPEED_3D, simple_kinematic_kalman_update_speed(), tag_track_dt, tag_track_private, TAG_TRACKING_FIXED_POS, TAG_TRACKING_LOST, tag_tracking_propagate_start(), TAG_TRACKING_RUNNING, TAG_TRACKING_SEARCHING, TAG_TRACKING_TIMEOUT, tag_tracking::timeout, and update_wp().

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tag_tracking_propagate_start()

void tag_tracking_propagate_start

(

void

)

Definition at line 349 of file tag_tracking.c.

References kalman, simple_kinematic_kalman_init(), tag_track_dt, tag_track_private, TAG_TRACKING_P0_POS, TAG_TRACKING_P0_SPEED, TAG_TRACKING_Q_SIGMA2, TAG_TRACKING_R, TAG_TRACKING_SEARCHING, and tag_tracking::timeout.

Referenced by tag_tracking_propagate().

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tag_tracking_report()

void tag_tracking_report

(

void

)

Definition at line 357 of file tag_tracking.c.

References DefaultChannel, DefaultDevice, ecef_of_ned_point_f(), tag_tracking::id, kalman, LlaCoor_f::lat, lla_of_ecef_f(), LlaCoor_f::lon, msg, State::ned_origin_f, SimpleKinematicKalman::state, state, tag_track_private, TAG_TRACKING_RUNNING, update_wp(), and tag_tracking::updated.

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Variable Documentation

tag_tracking

struct tag_tracking_public tag_tracking

extern

Definition at line 154 of file tag_tracking.c.