object_tracking.c File Reference

#include "modules/ctrl/object_tracking.h"
#include "firmwares/rotorcraft/navigation.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
#include "generated/modules.h"

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Macros
#define	OBJECT_TRACKING_ID   ABI_BROADCAST
#define	OBJECT_TRACKING_TIMEOUT   3.0f
#define	OBJECT_TRACKING_RATE   RadOfDeg(10)
#define	OBJECT_TRACKING_SEARCH_RATE   RadOfDeg(20)
#define	OBJECT_TRACKING_DEBUG   FALSE

Functions
static void	get_object (uint8_t sender_id, uint32_t id, uint8_t frame, float bearing, float height, float distance)
void	object_tracking_init (void)
	init function More...
void	object_tracking_run (void)
	run function More...

Variables
float	object_tracking_rate
	max turn rate in control mode in rad/s More...
float	object_tracking_search_rate
	max turn rate in search mode in rad/s More...
static uint8_t	object_frame
static float	object_bearing
static float	object_height
static float	timeout
abi_event	object_ev
static const float	nav_dt = 1.f / NAV_FREQ

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Control a rotorcraft heading to track an object detected by a camera

Definition in file object_tracking.c.

Macro Definition Documentation

#define OBJECT_TRACKING_DEBUG   FALSE

Definition at line 55 of file object_tracking.c.

#define OBJECT_TRACKING_ID   ABI_BROADCAST

Definition at line 35 of file object_tracking.c.

Referenced by object_tracking_init().

#define OBJECT_TRACKING_RATE   RadOfDeg(10)

Definition at line 45 of file object_tracking.c.

Referenced by object_tracking_init().

#define OBJECT_TRACKING_SEARCH_RATE   RadOfDeg(20)

Definition at line 50 of file object_tracking.c.

Referenced by object_tracking_init().

#define OBJECT_TRACKING_TIMEOUT   3.0f

Definition at line 40 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().

Function Documentation

static void get_object ( uint8_t  sender_id, uint32_t  id, uint8_t  frame, float  bearing, float  height, float  distance  )

static

Definition at line 77 of file object_tracking.c.

References object_bearing, object_frame, object_height, and timeout.

Referenced by object_tracking_init().

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void object_tracking_init

(

void

)

init function

Definition at line 88 of file object_tracking.c.

References get_object(), object_bearing, object_frame, object_height, OBJECT_TRACKING_ID, OBJECT_TRACKING_RATE, object_tracking_rate, OBJECT_TRACKING_SEARCH_RATE, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, and timeout.

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void object_tracking_run

(

void

)

run function

should be called in a flight plan stay block using pre_call

ex: <block name="Track Object"> <stay wp="STDBY" pre_call="object_tracking_run()"> </block>

Definition at line 102 of file object_tracking.c.

References ANGLE_BFP_OF_REAL, ANGLE_FLOAT_OF_BFP, DefaultChannel, DefaultDevice, FLOAT_ANGLE_NORMALIZE, INT32_COURSE_NORMALIZE, msg, nav_dt, nav_heading, object_bearing, object_frame, object_height, object_tracking_rate, object_tracking_search_rate, OBJECT_TRACKING_TIMEOUT, FloatEulers::psi, stateGetNedToBodyEulers_f(), and timeout.

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Variable Documentation

const float nav_dt = 1.f / NAV_FREQ

static

Definition at line 74 of file object_tracking.c.

Referenced by object_tracking_run().

float object_bearing

static

Definition at line 68 of file object_tracking.c.

Referenced by get_object(), object_tracking_init(), and object_tracking_run().

abi_event object_ev

Definition at line 72 of file object_tracking.c.

uint8_t object_frame

static

Definition at line 67 of file object_tracking.c.

Referenced by get_object(), object_tracking_init(), and object_tracking_run().

float object_height

static

Definition at line 69 of file object_tracking.c.

Referenced by get_object(), object_tracking_init(), and object_tracking_run().

float object_tracking_rate

max turn rate in control mode in rad/s

Definition at line 64 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().

float object_tracking_search_rate

max turn rate in search mode in rad/s

Definition at line 65 of file object_tracking.c.

Referenced by object_tracking_init(), and object_tracking_run().

float timeout

static

Definition at line 70 of file object_tracking.c.

Referenced by actuators_esc32_play_melody(), check_and_compute_data(), collective_tracking_control(), distributed_circular(), get_object(), object_tracking_init(), and object_tracking_run().