fc_rotor module

Algorithm for the formation control of a team of rotorcrafts.

The vehicles are are running the INDI control and the desired acceleration are given by script from ground.

Example for airframe file

Add to your firmware section:

<module name="fc_rotor"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• fc_rotor_init()

Datalink Functions

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

• on message DESIRED_SETPOINT call fc_read_msg(buf)

Files

Header Files

The following headers are automatically included in modules.h

• fc_rotor.h

Source Files

• modules/multi/fc_rotor/fc_rotor.c

Raw fc_rotor.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="fc_rotor" dir="multi/fc_rotor">
  <doc>
    <description>
      Algorithm for the formation control of a team of rotorcrafts.
      The vehicles are are running the INDI control and the desired acceleration are given by script from ground.
    </description>
  </doc>
 
  <header>
    <file name="fc_rotor.h"/>
  </header>
 
  <init fun = "fc_rotor_init()"/>
 
  <datalink message="DESIRED_SETPOINT" fun="fc_read_msg(buf)"/>
 
  <makefile firmware="rotorcraft">
    <define name="FC_ROTOR"/>
    <file name="fc_rotor.c"/>
  </makefile>
 
</module>