Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.
This module needs of custom messages in messages.xml. Please, check the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control for more information about the messages and how to tune the gains.
Example for airframe file
Add to your firmware section:
<module name="collective_tracking_control"/>
Module configuration options
Airframe file section
- section name:
Parameters
prefix: CTC_
- name
MAX_AC
value: 4
Description: Maximum number of expected aircraft
Module functions
Init Functions
These initialization functions are called once on startup.
Datalink Functions
Whenever the specified datalink message is received, the corresponing handler function is called.
- on message CTC_REG_TABLE call parse_ctc_RegTable(buf)
- on message CTC_CLEAN_TABLE call parse_ctc_CleanTable(buf)
- on message CTC_INFO_TO_NEI call parse_ctc_NeiInfoTable(buf)
- on message CTC_INFO_FROM_TARGET call parse_ctc_TargetInfo(buf)
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw collective_tracking_control.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="collective_tracking_control" dir="multi/ctc">
<doc>
<description>Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.
This module needs of custom messages in messages.xml. Please, check the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control for more information about the messages and how to tune the gains.
</description>
<section name="Parameters" prefix="CTC_">
<define name="MAX_AC" value="4" description="Maximum number of expected aircraft"/>
</section>
</doc>
<settings name="CTC">
<dl_settings>
<dl_settings NAME="CTC">
<dl_settings NAME="Control">
<dl_setting MAX="0.1" MIN="0" STEP="0.0005" VAR="ctc_control.k1" shortname = "Gain K1" param="CTC_GAIN_K1"/>
<dl_setting MAX="0.01" MIN="0" STEP="0.00005" VAR="ctc_control.k2" shortname = "Gain K2" param="CTC_GAIN_K2"/>
<dl_setting MAX="0.5" MIN="0" STEP="0.001" VAR="ctc_control.alpha" shortname = "Gain Alpha" param="CTC_GAIN_ALPHA"/>
<dl_setting MAX="3" MIN="0" STEP="0.01" VAR="ctc_control.omega" shortname = "Omega" param="CTC_OMEGA"/>
<dl_setting MAX="5000" MIN="0" STEP="1" VAR="ctc_control.timeout" shortname = "Timeout" param="CTC_TIMEOUT"/>
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="ctc_control.time_broad" shortname = "Broadcasting time" param="CTC_TIME_BROAD"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="ctc.h"/>
</header>
<init fun="ctc_init()"/>
<datalink message="CTC_REG_TABLE" fun="parse_ctc_RegTable(buf)"/>
<datalink message="CTC_CLEAN_TABLE" fun="parse_ctc_CleanTable(buf)"/>
<datalink message="CTC_INFO_TO_NEI" fun="parse_ctc_NeiInfoTable(buf)"/>
<datalink message="CTC_INFO_FROM_TARGET" fun="parse_ctc_TargetInfo(buf)"/>
<makefile firmware="fixedwing">
<file name="ctc.c"/>
</makefile>
</module>