Paparazzi UAS  v5.17_devel-24-g2ae834f
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collective_tracking_control_target module

Distributed algorithm for tracking a velocity/position reference signal

Module only for the target to broadcast its position and velocity to the pursuers.

Example for airframe file

Add to your firmware section:

1 <module name="collective_tracking_control_target"/>

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.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

  • on message CTC_REG_TABLE call parse_ctc_target_RegTable(buf)
  • on message CTC_CLEAN_TABLE call parse_ctc_target_CleanTable(buf)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

  • modules/ctc/ctc_target.c

Raw collective_tracking_control_target.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="collective_tracking_control_target" dir="ctc">
<doc>
<description>Distributed algorithm for tracking a velocity/position reference signal. Module only for the target to broadcast its position and velocity to the pursuers.
</description>
<section name="Parameters" prefix="CTC_">
<define name="MAX_AC" value="4" description="Maximum number of expected aircraft"/>
</section>
</doc>
<header>
<file name="ctc_target.h"/>
</header>
<init fun="ctc_target_init()"/>
<periodic fun="ctc_target_send_info_to_nei()" freq="10"/>
<datalink message="CTC_REG_TABLE" fun="parse_ctc_target_RegTable(buf)"/>
<datalink message="CTC_CLEAN_TABLE" fun="parse_ctc_target_CleanTable(buf)"/>
<makefile>
<file name="ctc_target.c"/>
</makefile>
</module>