Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Distributed circular formation algorithm. More...
#include "std.h"
Go to the source code of this file.
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 (uint8_t *buf) |
void | parseThetaTable (uint8_t *buf) |
Variables | |
struct dcf_con | dcf_control |
struct dcf_tab | dcf_tables |
Distributed circular formation algorithm.
Definition in file dcf.h.
struct dcf_con |
struct dcf_tab |
Data Fields | ||
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int16_t | error_sigma[DCF_MAX_NEIGHBORS] | |
uint32_t | last_theta[DCF_MAX_NEIGHBORS] | |
int16_t | tableNei[DCF_MAX_NEIGHBORS][4] |
#define DCF_MAX_NEIGHBORS 4 |
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.
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().
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extern |
Definition at line 33 of file dcf.c.
Referenced by distributed_circular(), and send_theta_to_nei().
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extern |
Definition at line 33 of file dcf.c.
Referenced by dcf_init(), distributed_circular(), parseRegTable(), parseThetaTable(), and send_theta_to_nei().