AP_Follow Class Reference

#include <AP_Follow.h>

Collaboration diagram for AP_Follow:

Public Types
enum	YawBehave { YAW_BEHAVE_NONE = 0, YAW_BEHAVE_FACE_LEAD_VEHICLE = 1, YAW_BEHAVE_SAME_AS_LEAD_VEHICLE = 2, YAW_BEHAVE_DIR_OF_FLIGHT = 3 }

Public Member Functions
	AP_Follow ()
void	set_target_sysid (uint8_t sysid)
bool	have_target () const
bool	get_target_location_and_velocity (Location &loc, Vector3f &vel_ned) const
bool	get_target_dist_and_vel_ned (Vector3f &dist_ned, Vector3f &dist_with_ofs, Vector3f &vel_ned)
const AC_P &	get_pos_p () const
YawBehave	get_yaw_behave () const
bool	get_target_heading (float &heading) const
void	handle_msg (const mavlink_message_t &msg)
bool	enabled () const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
bool	get_velocity_ned (Vector3f &vel_ned, float dt) const
void	init_offsets_if_required (const Vector3f &dist_vec_ned)
bool	get_offsets_ned (Vector3f &offsets) const

Private Attributes
AP_Int8	_enabled
AP_Int16	_sysid
AP_Float	_dist_max
AP_Int8	_offset_type
AP_Vector3f	_offset
AP_Int8	_yaw_behave
AC_P	_p_pos
bool	_healthy
uint8_t	_sysid_to_follow = 0
uint32_t	_last_location_update_ms
Location	_target_location
Vector3f	_target_velocity_ned
Vector3f	_target_accel_ned
uint32_t	_last_heading_update_ms
float	_target_heading
uint32_t	_last_location_sent_to_gcs

Detailed Description

Definition at line 25 of file AP_Follow.h.

Member Enumeration Documentation

YawBehave

enum AP_Follow::YawBehave

Enumerator
YAW_BEHAVE_NONE
YAW_BEHAVE_FACE_LEAD_VEHICLE
YAW_BEHAVE_SAME_AS_LEAD_VEHICLE
YAW_BEHAVE_DIR_OF_FLIGHT

Definition at line 31 of file AP_Follow.h.

Constructor & Destructor Documentation

AP_Follow()

AP_Follow::AP_Follow

(

)

Definition at line 117 of file AP_Follow.cpp.

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Member Function Documentation

enabled()

bool AP_Follow::enabled ( void  ) const

inline

Definition at line 77 of file AP_Follow.h.

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get_offsets_ned()

bool AP_Follow::get_offsets_ned ( Vector3f &  offsets ) const

private

Definition at line 315 of file AP_Follow.cpp.

Referenced by enabled(), and get_target_dist_and_vel_ned().

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get_pos_p()

const AC_P& AP_Follow::get_pos_p ( ) const

inline

Definition at line 58 of file AP_Follow.h.

get_target_dist_and_vel_ned()

bool AP_Follow::get_target_dist_and_vel_ned	(	Vector3f &	dist_ned,
		Vector3f &	dist_with_ofs,
		Vector3f &	vel_ned
	)

Definition at line 156 of file AP_Follow.cpp.

Referenced by set_target_sysid().

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get_target_heading()

bool AP_Follow::get_target_heading

(

float &

heading

)

const

Definition at line 196 of file AP_Follow.cpp.

Referenced by get_yaw_behave().

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get_target_location_and_velocity()

bool AP_Follow::get_target_location_and_velocity	(	Location &	loc,
		Vector3f &	vel_ned
	)		const

Definition at line 125 of file AP_Follow.cpp.

Referenced by get_target_dist_and_vel_ned(), handle_msg(), and set_target_sysid().

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get_velocity_ned()

bool AP_Follow::get_velocity_ned ( Vector3f &  vel_ned, float  dt  ) const

private

Definition at line 300 of file AP_Follow.cpp.

Referenced by enabled(), and get_target_location_and_velocity().

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get_yaw_behave()

YawBehave AP_Follow::get_yaw_behave ( ) const

inline

Definition at line 65 of file AP_Follow.h.

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handle_msg()

void AP_Follow::handle_msg

(

const mavlink_message_t &

msg

)

Definition at line 214 of file AP_Follow.cpp.

Referenced by get_yaw_behave().

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have_target()

bool AP_Follow::have_target

(

)

const

Referenced by set_target_sysid().

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init_offsets_if_required()

void AP_Follow::init_offsets_if_required ( const Vector3f &  dist_vec_ned )

private

Definition at line 307 of file AP_Follow.cpp.

Referenced by enabled(), and get_target_dist_and_vel_ned().

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set_target_sysid()

void AP_Follow::set_target_sysid ( uint8_t  sysid )

inline

Definition at line 42 of file AP_Follow.h.

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Member Data Documentation

_dist_max

AP_Float AP_Follow::_dist_max

private

Definition at line 93 of file AP_Follow.h.

Referenced by get_target_dist_and_vel_ned().

_enabled

AP_Int8 AP_Follow::_enabled

private

Definition at line 91 of file AP_Follow.h.

Referenced by enabled(), get_target_heading(), get_target_location_and_velocity(), and handle_msg().

_healthy

bool AP_Follow::_healthy

private

Definition at line 100 of file AP_Follow.h.

_last_heading_update_ms

uint32_t AP_Follow::_last_heading_update_ms

private

Definition at line 106 of file AP_Follow.h.

Referenced by get_offsets_ned(), get_target_heading(), and handle_msg().

_last_location_sent_to_gcs

uint32_t AP_Follow::_last_location_sent_to_gcs

private

Definition at line 108 of file AP_Follow.h.

Referenced by handle_msg().

_last_location_update_ms

uint32_t AP_Follow::_last_location_update_ms

private

Definition at line 102 of file AP_Follow.h.

Referenced by get_target_location_and_velocity(), and handle_msg().

_offset

AP_Vector3f AP_Follow::_offset

private

Definition at line 95 of file AP_Follow.h.

Referenced by get_offsets_ned(), and init_offsets_if_required().

_offset_type

AP_Int8 AP_Follow::_offset_type

private

Definition at line 94 of file AP_Follow.h.

Referenced by get_offsets_ned().

_p_pos

AC_P AP_Follow::_p_pos

private

Definition at line 97 of file AP_Follow.h.

Referenced by get_pos_p().

_sysid

AP_Int16 AP_Follow::_sysid

private

Definition at line 92 of file AP_Follow.h.

Referenced by AP_Follow(), handle_msg(), and set_target_sysid().

_sysid_to_follow

uint8_t AP_Follow::_sysid_to_follow = 0

private

Definition at line 101 of file AP_Follow.h.

Referenced by AP_Follow(), and handle_msg().

_target_accel_ned

Vector3f AP_Follow::_target_accel_ned

private

Definition at line 105 of file AP_Follow.h.

Referenced by get_velocity_ned().

_target_heading

float AP_Follow::_target_heading

private

Definition at line 107 of file AP_Follow.h.

Referenced by get_offsets_ned(), get_target_heading(), and handle_msg().

_target_location

Location AP_Follow::_target_location

private

Definition at line 103 of file AP_Follow.h.

Referenced by get_target_location_and_velocity(), and handle_msg().

_target_velocity_ned

Vector3f AP_Follow::_target_velocity_ned

private

Definition at line 104 of file AP_Follow.h.

Referenced by get_velocity_ned(), and handle_msg().

_yaw_behave

AP_Int8 AP_Follow::_yaw_behave

private

Definition at line 96 of file AP_Follow.h.

Referenced by get_yaw_behave().

var_info

const AP_Param::GroupInfo AP_Follow::var_info

static

Definition at line 74 of file AP_Follow.h.

Referenced by AP_Follow().

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The documentation for this class was generated from the following files:

• libraries/AP_Follow/AP_Follow.h
• libraries/AP_Follow/AP_Follow.cpp