Distributed algorithm for tracking a velocity/position reference signal

Module only for the target to broadcast its position and velocity to the pursuers.

Example for airframe file

Add to your firmware section:

Module configuration options

Airframe file section

section name: Parameters prefix: CTC_
- name MAX_AC value: 4
  Description: Maximum number of expected aircraft

Module functions

Init Functions

These initialization functions are called once on startup.

ctc_target_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

ctc_target_send_info_to_nei()
- Frequency in Hz: 10
- 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 CTC_REG_TABLE call parse_ctc_target_RegTable(buf)
on message CTC_CLEAN_TABLE call parse_ctc_target_CleanTable(buf)

Files

Header Files

The following headers are automatically included in modules.h

ctc_target.h

Source Files

modules/ctc/ctc_target::c

Raw collective_tracking_control_target.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="collective_tracking_control_target" dir="ctc">
  <doc>
    <description>Distributed algorithm for tracking a velocity/position reference signal. Module only for the target to broadcast its position and velocity to the pursuers.
    </description>
    <section name="Parameters" prefix="CTC_">
      <define name="MAX_AC" value="4" description="Maximum number of expected aircraft"/>
    </section>
  </doc>
 
  <header>
    <file name="ctc_target.h"/>
  </header>
 
  <init fun="ctc_target_init()"/>
 
  <periodic fun="ctc_target_send_info_to_nei()" freq="10"/>
 
  <datalink message="CTC_REG_TABLE" fun="parse_ctc_target_RegTable(buf)"/>
  <datalink message="CTC_CLEAN_TABLE" fun="parse_ctc_target_CleanTable(buf)"/>
 
  <makefile>
    <file name="ctc_target.c"/>
  </makefile>
 
</module>