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Tracker: add DISTANCE_MIN parameter 

Vehicles will only be tracked if they are at least DISTANCE_MIN meters
away from the tracker
This commit is contained in:
Randy Mackay 2015-04-27 11:24:47 +09:00
parent f74d2101d1
commit 404df7fe7d
4 changed files with 21 additions and 3 deletions
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4
AntennaTracker/Parameters.h
View File

@ -89,7 +89,8 @@ public:
k_param_yaw_trim, k_param_yaw_trim,
k_param_pitch_trim, k_param_pitch_trim,
k_param_yaw_range, k_param_yaw_range,
k_param_pitch_range, // 136 k_param_pitch_range,
k_param_distance_min, // 137
// //
// 150: Telemetry control // 150: Telemetry control
@ -138,6 +139,7 @@ public:
AP_Float pitch_trim; AP_Float pitch_trim;
AP_Int16 yaw_range; // yaw axis total range of motion in degrees AP_Int16 yaw_range; // yaw axis total range of motion in degrees
AP_Int16 pitch_range; // pitch axis total range of motion in degrees AP_Int16 pitch_range; // pitch axis total range of motion in degrees
AP_Int16 distance_min; // target's must be at least this distance from tracker to be tracked
// Waypoints // Waypoints
// //

9
AntennaTracker/Parameters.pde
View File

@ -178,6 +178,15 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(pitch_range, "PITCH_RANGE", PITCH_RANGE_DEFAULT), GSCALAR(pitch_range, "PITCH_RANGE", PITCH_RANGE_DEFAULT),
// @Param: DISTANCE_MIN
// @DisplayName: Distance minimum to target
// @Description: Tracker will track targets at least this distance away
// @Units: meters
// @Increment: 1
// @Range: 0 100
// @User: Standard
GSCALAR(distance_min, "DISTANCE_MIN", DISTANCE_MIN_DEFAULT),
// barometer ground calibration. The GND_ prefix is chosen for // barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane // compatibility with previous releases of ArduPlane
// @Group: GND_ // @Group: GND_

3
AntennaTracker/config.h
View File

@ -53,6 +53,9 @@
#ifndef TRACKING_TIMEOUT_SEC #ifndef TRACKING_TIMEOUT_SEC
# define TRACKING_TIMEOUT_SEC 5.0f // consider we've lost track of vehicle after 5 seconds with no position update. # define TRACKING_TIMEOUT_SEC 5.0f // consider we've lost track of vehicle after 5 seconds with no position update.
#endif #endif
#ifndef DISTANCE_MIN_DEFAULT
# define DISTANCE_MIN_DEFAULT 5.0f // do not track targets within 5 meters
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Developer Items // Developer Items

8
AntennaTracker/control_auto.pde
View File

@ -17,6 +17,10 @@ static void update_auto(void)
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f; float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90); float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
update_pitch_servo(pitch);
update_yaw_servo(yaw); // only move servos if target is at least distance_min away
if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) {
update_pitch_servo(pitch);
update_yaw_servo(yaw);
}
} }