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 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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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().