Paparazzi UAS  v5.15_devel-81-gd13dafb
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tcas module

TCAS collision avoidance

No detailed description...

Example for airframe file

Add to your firmware section:

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

Dependencies

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.

  • tcas_periodic_task_1Hz()
    • Frequency in Hz: 1
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.
  • tcas_periodic_task_4Hz()
    • Frequency in Hz: 4
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.

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 tcas.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="tcas" dir="multi">
<doc>
<description>TCAS collision avoidance</description>
</doc>
<depends>traffic_info</depends>
<header>
<file name="tcas.h"/>
</header>
<init fun="tcas_init()"/>
<periodic fun="tcas_periodic_task_1Hz()" freq="1"/>
<periodic fun="tcas_periodic_task_4Hz()" freq="4"/>
<datalink message="TCAS_RESOLVE" fun="parseTcasResolve()"/>
<datalink message="TCAS_RA" fun="parseTcasRA()"/>
<makefile>
<file name="tcas.c"/>
<define name="TCAS"/>
</makefile>
</module>