mavsdk::FollowMe::Config Struct Reference

#include: follow_me.h

Configuration type.

Public Types

Type	Description
enum FollowAltitudeMode	Altitude 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.

Value	Description
`Constant`	Target assumed to be mobing at a constant altitude of home position (where the vehicle armed).
`Terrain`	Target assumed to be at the terrain level sensed by the distance sensor.
`TargetGps`	Target GPS altitude taken into account to do 3D tracking.

Field Documentation

follow_height_m

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

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

follow_distance_m

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

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

responsiveness

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

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

Follow Altitude control mode.

max_tangential_vel_m_s

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

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.

struct Config