stereocam2state.c File Reference

#include "modules/stereocam/stereocam2state/stereocam2state.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for stereocam2state.c:

Go to the source code of this file.

Macros
#define	SENDER_ID   1
#define	STEREOCAM_GPS_ID   ABI_BROADCAST
	ABI binding for gps messages. More...
#define	USE_DEROTATION_OPTICFLOW   FALSE
	For extra functionality for derotation of velocity to state measurements. More...
#define	STATE_MEASURE_OPTICFLOW   TRUE

Functions
void	stereocam_to_state (float dphi, float dtheta)
static void	stereocam_gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	stereo_to_state_init (void)
void	stereo_to_state_periodic (void)

Variables
static abi_event	gps_ev
static float	prev_phi
static float	prev_theta
struct GpsStereoCam	gps_stereocam

Detailed Description

Author

Kimberly McGuire This module sends the data retreived from an external stereocamera modules, to the state filter of the drone. This is done so that the guidance modules can use that information for couadcopter

Definition in file stereocam2state.c.

Macro Definition Documentation

#define SENDER_ID   1

Definition at line 21 of file stereocam2state.c.

Referenced by stereocam_to_state().

#define STATE_MEASURE_OPTICFLOW   TRUE

Definition at line 36 of file stereocam2state.c.

#define STEREOCAM_GPS_ID   ABI_BROADCAST

ABI binding for gps messages.

Definition at line 26 of file stereocam2state.c.

Referenced by stereo_to_state_init().

#define USE_DEROTATION_OPTICFLOW   FALSE

For extra functionality for derotation of velocity to state measurements.

Definition at line 33 of file stereocam2state.c.

Function Documentation

void stereo_to_state_init

(

void

)

Definition at line 56 of file stereocam2state.c.

References stereocam_gps_cb(), and STEREOCAM_GPS_ID.

Here is the call graph for this function:

void stereo_to_state_periodic

(

void

)

Definition at line 62 of file stereocam2state.c.

References uint8array::fresh, FloatEulers::phi, prev_phi, prev_theta, stateGetNedToBodyEulers_f(), stereocam_data, stereocam_to_state(), and FloatEulers::theta.

Here is the call graph for this function:

static void stereocam_gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 46 of file stereocam2state.c.

References GpsStereoCam::ecef_vel, GpsState::ecef_vel, gps_stereocam, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by stereo_to_state_init().

Here is the caller graph for this function:

void stereocam_to_state	(	float	dphi,
		float	dtheta
	)

Definition at line 79 of file stereocam2state.c.

References uint8array::data, DefaultChannel, DefaultDevice, GpsStereoCam::ecef_vel, float_rmat_vmult(), frequency, get_sys_time_usec(), gps_stereocam, uint8array::len, SENDER_ID, stateGetNedToBodyRMat_f(), stateGetSpeedNed_f(), stereocam_data, EcefCoor_i::x, FloatVect3::x, NedCoor_f::x, EcefCoor_i::y, FloatVect3::y, NedCoor_f::y, EcefCoor_i::z, and NedCoor_f::z.

Referenced by stereo_to_state_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

abi_event gps_ev

static

Definition at line 28 of file stereocam2state.c.

struct GpsStereoCam gps_stereocam

Definition at line 42 of file stereocam2state.c.

Referenced by stereocam_gps_cb(), and stereocam_to_state().

float prev_phi

static

Definition at line 39 of file stereocam2state.c.

Referenced by stereo_to_state_periodic().

float prev_theta

static

Definition at line 40 of file stereocam2state.c.

Referenced by stereo_to_state_periodic().