follow_me.h File Reference

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Functions
void	follow_me_periodic (void)

Variables
float	ref_pitch
float	ref_roll
float	selfie_alt

Detailed Description

Author

Roland Follows a person using the reference given by the stereocam. This module does so by changing the yaw angle and roll angle alternatively. This way the drone does not drift away, and keeps looking at the person it tries to follow.

Definition in file follow_me.h.

Function Documentation

void follow_me_periodic

(

void

)

Definition at line 69 of file follow_me.c.

References CENTER_IMAGE_HOR, changeRollYawPhase(), uint8array::data, distanceToObject, uint8array::fresh, HEADING_CHANGE_PER_MEASUREMENT, heightGain, heightObject, increase_nav_heading(), isRollPhase, isYawPhase, MAXIMUM_ALTITUDE_FOLLOWING, MINIMUM_ALTITUDE_FOLLOWING, nav_heading, nav_is_in_flight(), phaseCounter, ref_pitch, ref_roll, selfie_alt, stereocam_data, STEREOCAM_FOLLOW_ME_USE_OPTITRACK, and waypoint_set_alt().

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Variable Documentation

float ref_pitch

Definition at line 103 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), follow_me_periodic(), OA_update(), and pingpong_euler().

float ref_roll

Definition at line 104 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), follow_me_periodic(), OA_update(), and pingpong_euler().

float selfie_alt

Definition at line 33 of file follow_me.c.

Referenced by follow_me_periodic().