Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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formation_flight module

Formation flight control

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="traffic_info"/>
2 <module name="formation_flight"/>

Dependencies

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.

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>
<depends>traffic_info</depends>
<header>
<file name="formation.h"/>
</header>
<init fun="formation_init()"/>
<datalink message="FORMATION_STATUS" fun="parseFormationStatus()"/>
<datalink message="FORMATION_SLOT" fun="parseFormationSlot()"/>
<makefile>
<file name="formation.c"/>
</makefile>
</module>