object_tracking module

Control a rotorcraft heading to track an object detected by a camera

Data are coming from FOLLOW_TARGET ABI message

Example for airframe file

Add to your firmware section:

<module name="object_tracking"/>

Module configuration options

Airframe file section

• section name: OBJECT_TRACKING prefix: OBJECT_TRACKING_
  • name ID value: ABI_BROADCAST
    Description: ABI binding ID
  • name TIMEOUT value: 2.
    Description: timeout for entering search mode
  • name RATE value: 10.
    Description: turn rate during control mode
  • name SEARCH_RATE value: 20.
    Description: turn rate during search mode
  • name DEBUG value: FALSE/TRUE
    Description: send debug message over telemetry

Module functions

Init Functions

These initialization functions are called once on startup.

• object_tracking_init()

Files

Header Files

The following headers are automatically included in modules.h

• object_tracking.h

Source Files

• modules/ctrl/object_tracking.c

Raw object_tracking.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="object_tracking" dir="ctrl">
  <doc>
    <description>
      Control a rotorcraft heading to track an object detected by a camera

      Data are coming from FOLLOW_TARGET ABI message
    </description>
    <section name="OBJECT_TRACKING" prefix="OBJECT_TRACKING_">
      <define name="ID" value="ABI_BROADCAST" description="ABI binding ID"/>
      <define name="TIMEOUT" value="2." description="timeout for entering search mode"/>
      <define name="RATE" value="10." unit="deg/s" description="turn rate during control mode"/>
      <define name="SEARCH_RATE" value="20." unit="deg/s" description="turn rate during search mode"/>
      <define name="DEBUG" value="FALSE/TRUE" description="send debug message over telemetry"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="object track">
        <dl_setting MAX="90." MIN="0." STEP="0.1" VAR="object_tracking_search_rate" shortname="search rate" unit="rad/s" alt_unit="deg/s" module="modules/ctrl/object_tracking"/>
        <dl_setting MAX="90." MIN="0." STEP="0.1" VAR="object_tracking_rate" shortname="tracking rate" unit="rad/s" alt_unit="deg/s" module="modules/ctrl/object_tracking"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="object_tracking.h"/>
  </header>
  <init fun="object_tracking_init()"/>
  <makefile>
    <file name="object_tracking.c"/>
  </makefile>
</module>