Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include <math.h>
#include <std.h>
#include "modules/muti/dcf/dcf.h"
#include "modules/datalink/telemetry.h"
#include "modules/nav/common_nav.h"
#include "autopilot.h"
Go to the source code of this file.
Macros | |
#define | DCF_GAIN_K 10 |
#define | DCF_RADIUS 80 |
#define | DCF_TIMEOUT 1500 |
#define | DCF_BROADTIME 200 |
Functions | |
static void | send_dcf (struct transport_tx *trans, struct link_device *dev) |
void | dcf_init (void) |
bool | distributed_circular (uint8_t wp) |
void | send_theta_to_nei (void) |
void | parseRegTable (uint8_t *buf) |
void | parseThetaTable (uint8_t *buf) |
Variables | |
struct dcf_con | dcf_control = {DCF_GAIN_K, DCF_RADIUS, DCF_TIMEOUT, 0, DCF_BROADTIME} |
struct dcf_tab | dcf_tables |
uint32_t | last_transmision = 0 |
#define DCF_TIMEOUT 1500 |
void dcf_init | ( | void | ) |
Definition at line 63 of file dcf.c.
References DCF_MAX_NEIGHBORS, dcf_tables, DefaultPeriodic, dcf_tab::error_sigma, register_periodic_telemetry(), send_dcf(), and dcf_tab::tableNei.
bool distributed_circular | ( | uint8_t | wp | ) |
Definition at line 75 of file dcf.c.
References AP_MODE_AUTO2, autopilot_get_mode(), dcf_con::broadtime, c1, c2, dcf_control, DCF_MAX_NEIGHBORS, dcf_tables, dcf_tab::error_sigma, get_sys_time_msec(), gvf_control, gvf_ellipse_XY(), dcf_con::k, dcf_tab::last_theta, last_transmision, p, dcf_con::radius, gvf_con::s, logger_uart_parse::s1, logger_uart_parse::s2, send_theta_to_nei(), stateGetPositionEnu_f(), t1, dcf_tab::tableNei, dcf_con::theta, timeout, dcf_con::timeout, waypoints, EnuCoor_f::x, point::x, EnuCoor_f::y, and point::y.
void parseRegTable | ( | uint8_t * | buf | ) |
Definition at line 140 of file dcf.c.
References DCF_MAX_NEIGHBORS, dcf_tables, and dcf_tab::tableNei.
void parseThetaTable | ( | uint8_t * | buf | ) |
Definition at line 169 of file dcf.c.
References DCF_MAX_NEIGHBORS, dcf_tables, get_sys_time_msec(), dcf_tab::last_theta, and dcf_tab::tableNei.
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static |
Definition at line 33 of file dcf.c.
Referenced by dcf_init().
void send_theta_to_nei | ( | void | ) |
Definition at line 125 of file dcf.c.
References dcf_control, DCF_MAX_NEIGHBORS, dcf_tables, DefaultChannel, DefaultDevice, msg, dcf_tab::tableNei, and dcf_con::theta.
Referenced by distributed_circular().
struct dcf_con dcf_control = {DCF_GAIN_K, DCF_RADIUS, DCF_TIMEOUT, 0, DCF_BROADTIME} |
Definition at line 33 of file dcf.c.
Referenced by distributed_circular(), and send_theta_to_nei().
struct dcf_tab dcf_tables |
Definition at line 33 of file dcf.c.
Referenced by dcf_init(), distributed_circular(), parseRegTable(), parseThetaTable(), and send_theta_to_nei().
uint32_t last_transmision = 0 |
Definition at line 61 of file dcf.c.
Referenced by distributed_circular().