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dcf.h File Reference

Distributed circular formation algorithm. More...

#include "std.h"
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Data Structures

struct  dcf_con
 
struct  dcf_tab
 

Macros

#define DCF_MAX_NEIGHBORS   4
 

Functions

void dcf_init (void)
 
bool distributed_circular (uint8_t wp)
 
void send_theta_to_nei (void)
 
void parseRegTable (void)
 
void parseThetaTable (void)
 

Variables

struct dcf_con dcf_control
 
struct dcf_tab dcf_tables
 

Detailed Description

Distributed circular formation algorithm.

Definition in file dcf.h.


Data Structure Documentation

struct dcf_con

Definition at line 37 of file dcf.h.

Data Fields
uint16_t broadtime
float k
float radius
float theta
uint16_t timeout
struct dcf_tab

Definition at line 47 of file dcf.h.

Data Fields
int16_t error_sigma[DCF_MAX_NEIGHBORS]
uint32_t last_theta[DCF_MAX_NEIGHBORS]
int16_t tableNei[DCF_MAX_NEIGHBORS][4]

Macro Definition Documentation

#define DCF_MAX_NEIGHBORS   4

Default number of neighbors per aircraft

Definition at line 34 of file dcf.h.

Referenced by dcf_init(), distributed_circular(), parseRegTable(), parseThetaTable(), send_dcf(), and send_theta_to_nei().

Function Documentation

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.

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void parseRegTable ( void  )

Definition at line 140 of file dcf.c.

References ac_id, DCF_MAX_NEIGHBORS, dcf_tables, dl_buffer, and dcf_tab::tableNei.

void parseThetaTable ( void  )

Definition at line 169 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, dl_buffer, get_sys_time_msec(), dcf_tab::last_theta, and dcf_tab::tableNei.

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void send_theta_to_nei ( void  )

Definition at line 125 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, DefaultChannel, DefaultDevice, dcf_tab::tableNei, and dcf_con::theta.

Referenced by distributed_circular().

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Variable Documentation

struct dcf_con dcf_control

Definition at line 58 of file dcf.c.

struct dcf_tab dcf_tables