target_pos.c File Reference

#include "target_pos.h"
#include <math.h>
#include "modules/datalink/telemetry.h"
#include "modules/core/abi.h"

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Macros
#define	TARGET_POS_TIMEOUT   5000
#define	TARGET_RTK_TIMEOUT   1000
#define	TARGET_OFFSET_HEADING   180.0
#define	TARGET_OFFSET_DISTANCE   12.0
#define	TARGET_OFFSET_HEIGHT   -1.2
#define	TARGET_INTEGRATE_XY   true
#define	TARGET_INTEGRATE_Z   false

Functions
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	send_target_pos_info (struct transport_tx *trans, struct link_device *dev)
void	target_pos_init (void)
void	target_parse_target_pos (uint8_t *buf)
	Receive a TARGET_POS message from the ground. More...
bool	target_get_pos (struct NedCoor_f *pos, float *heading)
	Get the current target position (NED) and heading. More...
bool	target_get_vel (struct NedCoor_f *vel)
	Get the current target velocity (NED) More...
bool	target_pos_set_current_offset (float unk)
	Set the current measured distance and heading as offset. More...

Variables
struct target_t	target
static abi_event	gps_ev

Detailed Description

Author

Freek van Tienen freek.nosp@m..v.t.nosp@m.ienen.nosp@m.@gma.nosp@m.il.co.nosp@m.m Control a rotorcraft to follow at a defined distance from the target

Definition in file target_pos.c.

Macro Definition Documentation

TARGET_INTEGRATE_XY

#define TARGET_INTEGRATE_XY   true

Definition at line 56 of file target_pos.c.

TARGET_INTEGRATE_Z

#define TARGET_INTEGRATE_Z   false

Definition at line 60 of file target_pos.c.

TARGET_OFFSET_DISTANCE

#define TARGET_OFFSET_DISTANCE   12.0

Definition at line 48 of file target_pos.c.

TARGET_OFFSET_HEADING

#define TARGET_OFFSET_HEADING   180.0

Definition at line 44 of file target_pos.c.

TARGET_OFFSET_HEIGHT

#define TARGET_OFFSET_HEIGHT   -1.2

Definition at line 52 of file target_pos.c.

TARGET_POS_TIMEOUT

#define TARGET_POS_TIMEOUT   5000

Definition at line 35 of file target_pos.c.

TARGET_RTK_TIMEOUT

#define TARGET_RTK_TIMEOUT   1000

Definition at line 40 of file target_pos.c.

Function Documentation

gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t stamp  , struct GpsState *  gps_s  )

static

Definition at line 109 of file target_pos.c.

References LlaCoor_i::alt, target_t::gps_lla, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, and target.

Referenced by target_pos_init().

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send_target_pos_info()

static void send_target_pos_info ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 83 of file target_pos.c.

References LlaCoor_i::alt, target_pos_t::climb, target_pos_t::course, dev, target_offset_t::distance, target_pos_t::ground_speed, target_pos_t::heading, target_offset_t::heading, target_offset_t::height, LlaCoor_i::lat, target_pos_t::lla, LlaCoor_i::lon, target_t::offset, target_t::pos, and target.

Referenced by target_pos_init().

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target_get_pos()

bool target_get_pos	(	struct NedCoor_f *	pos,
		float *	heading
	)

Get the current target position (NED) and heading.

Definition at line 142 of file target_pos.c.

References target_offset_t::distance, get_sys_time_msec(), target_t::gps_lla, target_pos_t::heading, target_offset_t::heading, heading, target_offset_t::height, target_t::integrate_xy, target_t::integrate_z, target_pos_t::lla, State::ned_initialized_i, ned_of_lla_point_i(), State::ned_origin_i, target_t::offset, target_t::pos, target_pos_t::recv_time, state, target, target_get_vel(), target_t::target_pos_timeout, target_pos_t::valid, NedCoor_f::x, NedCoor_i::x, NedCoor_f::y, NedCoor_i::y, NedCoor_f::z, and NedCoor_i::z.

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target_get_vel()

bool target_get_vel

(

struct NedCoor_f *

vel

)

Get the current target velocity (NED)

Definition at line 191 of file target_pos.c.

References target_pos_t::climb, target_pos_t::course, get_sys_time_msec(), target_pos_t::ground_speed, State::ned_initialized_i, target_t::pos, target_pos_t::recv_time, state, target, target_t::target_pos_timeout, target_pos_t::valid, NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by target_get_pos().

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target_parse_target_pos()

void target_parse_target_pos

(

uint8_t *

buf

)

Receive a TARGET_POS message from the ground.

Definition at line 121 of file target_pos.c.

References LlaCoor_i::alt, target_pos_t::climb, target_pos_t::course, get_sys_time_msec(), gps_tow_from_sys_ticks(), target_pos_t::ground_speed, target_pos_t::heading, LlaCoor_i::lat, target_pos_t::lla, LlaCoor_i::lon, sys_time::nb_tick, target_t::pos, target_pos_t::recv_time, target, target_pos_t::tow, and target_pos_t::valid.

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target_pos_init()

void target_pos_init

(

void

)

Definition at line 99 of file target_pos.c.

References ABI_BROADCAST, DefaultPeriodic, gps_cb(), gps_ev, register_periodic_telemetry(), and send_target_pos_info().

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target_pos_set_current_offset()

bool target_pos_set_current_offset

(

float

unk

)

Set the current measured distance and heading as offset.

Definition at line 209 of file target_pos.c.

References target_offset_t::distance, get_sys_time_msec(), target_pos_t::heading, target_offset_t::heading, target_offset_t::height, target_pos_t::lla, State::ned_initialized_i, ned_of_lla_point_i(), State::ned_origin_i, target_t::offset, target_t::pos, target_pos_t::recv_time, state, stateGetPositionNed_f(), target, target_t::target_pos_timeout, target_pos_t::valid, NedCoor_f::x, NedCoor_i::x, NedCoor_f::y, NedCoor_i::y, NedCoor_f::z, and NedCoor_i::z.

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Variable Documentation

gps_ev

abi_event gps_ev

static

Definition at line 78 of file target_pos.c.

Referenced by target_pos_init().

target

struct target_t target

Initial value:

= {
  .pos = {0},
  .offset = {
    .heading = TARGET_OFFSET_HEADING,
    .distance = TARGET_OFFSET_DISTANCE,
    .height = TARGET_OFFSET_HEIGHT,
  },
  .target_pos_timeout = TARGET_POS_TIMEOUT,
  .rtk_timeout = TARGET_RTK_TIMEOUT,
  .integrate_xy = TARGET_INTEGRATE_XY,
  .integrate_z = TARGET_INTEGRATE_Z
}

Definition at line 1 of file target_pos.c.

Referenced by georeference_run(), gps_cb(), lsm303d_spi_init(), mavlink_common_message_handler(), nav_eight(), nav_set_heading_towards(), px4flash_event(), recursive_least_squares(), send_target_pos_info(), target_get_pos(), target_get_vel(), target_parse_target_pos(), target_pos_set_current_offset(), and update_target_point().