Paparazzi UAS  v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
target_pos.h File Reference
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
+ Include dependency graph for target_pos.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  target_pos_t
struct  target_offset_t
struct  target_t


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...


struct target_t target

Detailed Description

Freek van Tienen Create a target position derived from and RTK gps or TARGET_POS message

Definition in file target_pos.h.

Data Structure Documentation

◆ target_pos_t

struct target_pos_t

Definition at line 33 of file target_pos.h.

+ Collaboration diagram for target_pos_t:
Data Fields
float climb Climb speed, z-up [m/s].
float course Ground course of the target [deg].
float ground_speed Ground speed of the target [m/s].
float heading Heading of the target [deg].
struct LlaCoor_i lla Lat, lon and altitude position of the target.
uint32_t recv_time Time of when the target position message was received [msec].
uint32_t tow Time of week of the target position measurement.
bool valid If the data of the target position is valid.

◆ target_offset_t

struct target_offset_t

Definition at line 44 of file target_pos.h.

Data Fields
float distance Target offset distance.
float heading Target offset heading.
float height Target offset height.

◆ target_t

struct target_t

Definition at line 50 of file target_pos.h.

+ Collaboration diagram for target_t:
Data Fields
struct LlaCoor_i gps_lla GPS LLA position.
bool integrate_xy Enable integration of the position in X-Y (North/East) frame.
bool integrate_z Enable integration of the position in Z (Up) frame.
struct target_offset_t offset The target offset relative to ground heading.
struct target_pos_t pos The target position message.
uint32_t rtk_timeout RTK message timeout [msec].
uint32_t target_pos_timeout Ground target position message timeout [msec].

Function Documentation

◆ target_get_pos()

◆ 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().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ target_parse_target_pos()

void target_parse_target_pos ( uint8_t buf)

◆ 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().

+ Here is the call graph for this function:

◆ target_pos_set_current_offset()

Variable Documentation

◆ target