Paparazzi UAS  v5.15_devel-230-gc96ce27
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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.

  • on message TCAS_RESOLVE call parseTcasResolve(buf)
  • on message TCAS_RA call parseTcasRA(buf)

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(buf)"/>
<datalink message="TCAS_RA" fun="parseTcasRA(buf)"/>
<makefile>
<file name="tcas.c"/>
<define name="TCAS"/>
</makefile>
</module>