Follow a certain AC_ID trough remote GPS

Module XML file: follow.xml

Only for rotorcraft firmware.

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

<modules>
  <load name="follow.xml">
    <define name="FOLLOW_AC_ID" />
    <define name="FOLLOW_WAYPOINT_ID" />
    <define name="FOLLOW_OFFSET_X" value="0" />
    <define name="FOLLOW_OFFSET_Y" value="0" />
    <define name="FOLLOW_OFFSET_Z" value="0" />
  </load>
</modules>

Module configuration options

Define Options

• name: FOLLOW_AC_ID value: None
  Description: the aircraft ID which it has to follow
• name: FOLLOW_WAYPOINT_ID value: None
  Description: the waypoint ID which it has to change
• name: FOLLOW_OFFSET_X value: 0
  Description: the x offset in ENU (meters) from the plane
• name: FOLLOW_OFFSET_Y value: 0
  Description: the y offset in ENU (meters) from the plane
• name: FOLLOW_OFFSET_Z value: 0
  Description: the z offset in ENU (meters) from the plane

Module functions

Init Functions

These initialization functions are called once on startup.

• follow_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message REMOTE_GPS call ParseRemoteGps()

Files

Header Files

The following headers are automatically included in modules.h

• follow.h

Source Files

• modules/multi/follow.c

Raw follow.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="follow" dir="multi">
  <doc>
    <description>
      Follow a certain AC_ID trough remote GPS.
      Only for rotorcraft firmware.
    </description>
    <define name="FOLLOW_AC_ID"               description="the aircraft ID which it has to follow"/>
    <define name="FOLLOW_WAYPOINT_ID"         description="the waypoint ID which it has to change"/>
    <define name="FOLLOW_OFFSET_X" value="0"  description="the x offset in ENU (meters) from the plane"/>
    <define name="FOLLOW_OFFSET_Y" value="0"  description="the y offset in ENU (meters) from the plane"/>
    <define name="FOLLOW_OFFSET_Z" value="0"  description="the z offset in ENU (meters) from the plane"/>
  </doc>

  <header>
    <file name="follow.h"/>
  </header>

  <init fun="follow_init()"/>
  <datalink message="REMOTE_GPS" fun="ParseRemoteGps()"/>

  <makefile>
    <file name="follow.c"/>
  </makefile>
</module>