tag_tracking
Track poistion of a tag (ArUco, QRcode, …) detected by an onboard camera The tag detection and pose computation is done outside of the module, only the estimation by fusion of AHRS and visual detection with a Kalman filter is performed in this module
TAG_TRACKING_ |
||
|---|---|---|
Name |
Value |
Description |
WP |
WP_TAG |
if defined, update the position of the waypoint at the location of the tag; if TAG waypoint exists in flight plan, it is used by default |
SIM_WP |
WP_TARGET |
designate a waypoint to be used as virtual tag in simulation; if TARGET waypoint exists in flight plan, it is used by default |
BODY_TO_CAM_PHI |
0. |
rotation from body to cam frame (phi) |
BODY_TO_CAM_THETA |
0. |
rotation from body to cam frame (theta) |
BODY_TO_CAM_PSI |
0. |
rotation from body to cam frame (psi) |
CAM_POS_X |
0. |
camera position in meter in body frame (X axis) |
CAM_POS_Y |
0. |
camera position in meter in body frame (Y axis) |
CAM_POS_Z |
0. |
camera position in meter in body frame (Z axis) |
COORD_TO_M |
1e-3 |
transformation from camera coordinates to meters (default: mm to m) |
R |
1 |
process noise in kalman filter |
Q_SIGMA2 |
1. |
measurement noise in kalman filter |
P0_POS |
10. |
initial covariance on position |
P0_SPEED |
10. |
initial covariance on speed |
TIMEOUT |
5. |
timeout for lost tracking in seconds |
PREDICT_TIME |
1. |
position prediction time when moving waypoint |
MAX_OFFSET |
2. |
maximum position offset for predicted positin compared to estimated position |
MAX_SPEED |
4. |
maximum horiontal speed for the tracking control |
MAX_VZ |
2. |
maximum vertical speed for the tracking control |
KP |
0.5 |
horizontal gain on position error |
KPZ |
0.2 |
vertical gain on position error |
Depends
- jevois