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

Include dependency graph for tag_tracking.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	tag_tracking_public

Macros
#define	TAG_TRACKING_NB_MAX 5

#define	TAG_TRACKING_ANY -2

#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_set_setting_id (float id)

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)

struct tag_tracking_public *	tag_tracking_get (int16_t tag_id)

uint8_t	tag_tracking_get_status (int16_t tag_id)

uint8_t	tag_tracking_get_motion_type (int16_t tag_id)

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...

bool	tag_tracking_set_tracker_id (int16_t tag_id, uint8_t wp_id)

float	tag_tracking_get_heading (int16_t tag_id)

Variables
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_public

struct tag_tracking_public

Definition at line 54 of file tag_tracking.h.

Collaboration diagram for tag_tracking_public:

Data Fields
struct FloatQuat	body_to_tag_quat	estimated attitude in body frame
float	kp	horizontal tracking command gain
float	kpz	vertical tracking command gain
uint8_t	motion_type	type of tag motion
struct FloatQuat	ned_to_tag_quat	estimated attitude in NED frame
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_ANY

#define TAG_TRACKING_ANY -2

Definition at line 41 of file tag_tracking.h.

◆ TAG_TRACKING_DISABLE

#define TAG_TRACKING_DISABLE 3

Definition at line 47 of file tag_tracking.h.

◆ TAG_TRACKING_FIXED_POS

#define TAG_TRACKING_FIXED_POS 0

Definition at line 51 of file tag_tracking.h.

◆ TAG_TRACKING_LOST

#define TAG_TRACKING_LOST 2

Definition at line 46 of file tag_tracking.h.

◆ TAG_TRACKING_MOVING

#define TAG_TRACKING_MOVING 1

Definition at line 52 of file tag_tracking.h.

◆ TAG_TRACKING_NB_MAX

#define TAG_TRACKING_NB_MAX 5

Definition at line 37 of file tag_tracking.h.

◆ TAG_TRACKING_RUNNING

#define TAG_TRACKING_RUNNING 1

Definition at line 45 of file tag_tracking.h.

◆ TAG_TRACKING_SEARCHING

#define TAG_TRACKING_SEARCHING 0

Definition at line 44 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 509 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.