target_pos.h File Reference

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

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Data Structures
struct	target_pos_t
struct	target_offset_t
struct	target_t

Functions
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

Detailed Description

Author

Freek van Tienen freek.nosp@m..v.t.nosp@m.ienen.nosp@m.@gma.nosp@m.il.co.nosp@m.m Create a target position derived from and RTK gps or TARGET_POS message

Definition in file target_pos.h.

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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()

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

Get the current target position (NED) and heading.

Definition at line 143 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(), target_t::offset, target_t::pos, target_pos_t::recv_time, state, stateGetNedOrigin_i(), 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 192 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 122 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 100 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 210 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(), target_t::offset, target_t::pos, target_pos_t::recv_time, state, stateGetNedOrigin_i(), 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

target

struct target_t target

extern

Definition at line 1 of file target_pos.c.

Referenced by CN_calculate_target(), 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().