Formation flight control
No detailed description...
Example for airframe file
Add to your firmware section:
<module name="formation_flight"/>
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 FORMATION_STATUS call parseFormationStatus(buf)
- on message FORMATION_SLOT call parseFormationSlot(buf)
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw formation_flight.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="formation_flight" dir="multi">
<doc>
<description>Formation flight control</description>
</doc>
<settings>
<dl_settings>
<dl_settings name="formation">
<dl_setting MAX="24" MIN="0" STEP="1" VAR="leader_id" module="multi/formation"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_pos" shortname="pos_gain" module="multi/formation" param="FORM_POS_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_speed" shortname="speed_gain" module="multi/formation" param="FORM_SPEED_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_course" shortname="course_gain" module="multi/formation" param="FORM_COURSE_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_alt" shortname="alt_gain" module="multi/formation" param="FORM_ALTITUDE_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="form_mode" module="multi/formation" values="GLOBAL|LOCAL" param="FORM_MODE"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>traffic_info</depends>
</dep>
<header>
<file name="formation.h"/>
</header>
<init fun="formation_init()"/>
<datalink message="FORMATION_STATUS" fun="parseFormationStatus(buf)"/>
<datalink message="FORMATION_SLOT" fun="parseFormationSlot(buf)"/>
<makefile>
<file name="formation.c"/>
</makefile>
</module>