Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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follow_me.c File Reference
#include "modules/stereocam/stereocam_follow_me/follow_me.h"
#include "modules/stereocam/stereocam.h"
#include "state.h"
#include "navigation.h"
#include "subsystems/datalink/telemetry.h"
#include "generated/flight_plan.h"
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Macros

#define STEREOCAM_FOLLOW_ME_USE_OPTITRACK   FALSE
 
#define HEADING_CHANGE_PER_MEASUREMENT   260
 
#define CENTER_IMAGE_HOR   65
 
#define MAXIMUM_ALTITUDE_FOLLOWING   3.0
 
#define MINIMUM_ALTITUDE_FOLLOWING   1.0
 

Functions

void changeRollYawPhase (int *phaseCounterArg, int *isRollPhaseArg, int *isYawPhaseArg)
 
void increase_nav_heading (int32_t *heading, int32_t increment)
 
void follow_me_periodic ()
 

Variables

float ref_pitch = 0.0
 
float ref_roll = 0.0
 
float selfie_alt = 1.0
 
int breaksPoints = 0
 
int isRollPhase = 0
 
int isYawPhase = 0
 
int phaseCounter = 0
 
float heightGain = 0.3
 
int amountOfRollPhaseTime = 15
 
int amountOfYawPhaseTime = 15
 
uint8_t distanceToObject
 
uint8_t heightObject
 

Macro Definition Documentation

#define CENTER_IMAGE_HOR   65

Definition at line 28 of file follow_me.c.

Referenced by follow_me_periodic().

#define HEADING_CHANGE_PER_MEASUREMENT   260

Definition at line 27 of file follow_me.c.

Referenced by follow_me_periodic().

#define MAXIMUM_ALTITUDE_FOLLOWING   3.0

Definition at line 29 of file follow_me.c.

Referenced by follow_me_periodic().

#define MINIMUM_ALTITUDE_FOLLOWING   1.0

Definition at line 30 of file follow_me.c.

Referenced by follow_me_periodic().

#define STEREOCAM_FOLLOW_ME_USE_OPTITRACK   FALSE

Definition at line 23 of file follow_me.c.

Referenced by follow_me_periodic().

Function Documentation

void changeRollYawPhase ( int *  phaseCounterArg,
int *  isRollPhaseArg,
int *  isYawPhaseArg 
)

Definition at line 45 of file follow_me.c.

References amountOfRollPhaseTime, and amountOfYawPhaseTime.

Referenced by follow_me_periodic().

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void increase_nav_heading ( int32_t heading,
int32_t  increment 
)

Definition at line 65 of file follow_me.c.

Referenced by follow_me_periodic().

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Variable Documentation

int amountOfRollPhaseTime = 15

Definition at line 39 of file follow_me.c.

Referenced by changeRollYawPhase().

int amountOfYawPhaseTime = 15

Definition at line 40 of file follow_me.c.

Referenced by changeRollYawPhase().

int breaksPoints = 0

Definition at line 34 of file follow_me.c.

uint8_t distanceToObject

Definition at line 41 of file follow_me.c.

Referenced by follow_me_periodic().

float heightGain = 0.3

Definition at line 38 of file follow_me.c.

Referenced by follow_me_periodic().

uint8_t heightObject

Definition at line 42 of file follow_me.c.

Referenced by follow_me_periodic().

int isRollPhase = 0

Definition at line 35 of file follow_me.c.

Referenced by follow_me_periodic().

int isYawPhase = 0

Definition at line 36 of file follow_me.c.

Referenced by follow_me_periodic().

int phaseCounter = 0

Definition at line 37 of file follow_me.c.

Referenced by follow_me_periodic().

float ref_pitch = 0.0

Definition at line 31 of file follow_me.c.

Referenced by follow_me_periodic().

float ref_roll = 0.0

Definition at line 32 of file follow_me.c.

Referenced by follow_me_periodic().

float selfie_alt = 1.0

Definition at line 33 of file follow_me.c.

Referenced by follow_me_periodic().