Appearance

mavsdk::FollowMe::Config Struct Reference ​

#include: follow_me.h

Configuration type.

Public Types ​

TypeDescription
enum FollowAltitudeModeAltitude mode to configure which altitude the follow me will assume the target to be at.

Data Fields ​

float follow_height_m { 8.0f} - [m] Follow height in meters (recommended minimum 8 meters)

float follow_distance_m {8.0f} - [m] Follow distance to target in meters (recommended minimum 4 meter)

float responsiveness {0.1f} - How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)

FollowAltitudeMode altitude_mode {} - Follow Altitude control mode.

float max_tangential_vel_m_s { 8.0f} - [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.

float follow_angle_deg { 180.0f} - [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.

Member Enumeration Documentation ​

enum FollowAltitudeMode ​

Altitude mode to configure which altitude the follow me will assume the target to be at.

ValueDescription
ConstantTarget assumed to be mobing at a constant altitude of home position (where the vehicle armed).
TerrainTarget assumed to be at the terrain level sensed by the distance sensor.
TargetGpsTarget GPS altitude taken into account to do 3D tracking.

Field Documentation ​

follow_height_m ​

cpp
float mavsdk::FollowMe::Config::follow_height_m { 8.0f}

[m] Follow height in meters (recommended minimum 8 meters)

follow_distance_m ​

cpp
float mavsdk::FollowMe::Config::follow_distance_m {8.0f}

[m] Follow distance to target in meters (recommended minimum 4 meter)

responsiveness ​

cpp
float mavsdk::FollowMe::Config::responsiveness {0.1f}

How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)

altitude_mode ​

cpp
FollowAltitudeMode mavsdk::FollowMe::Config::altitude_mode {}

Follow Altitude control mode.

max_tangential_vel_m_s ​

cpp
float mavsdk::FollowMe::Config::max_tangential_vel_m_s { 8.0f}

[m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.

follow_angle_deg ​

cpp
float mavsdk::FollowMe::Config::follow_angle_deg { 180.0f}

[deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.