Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
tcas.h File Reference

Collision avoidance library. More...

#include "std.h"
#include "pprzlink/messages.h"
#include "generated/airframe.h"
#include "modules/multi/traffic_info.h"
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Data Structures

struct  tcas_ac_status
 

Macros

#define TCAS_NO_ALARM   0
 
#define TCAS_TA   1
 
#define TCAS_RA   2
 

Enumerations

enum  tcas_resolve { RA_NONE, RA_LEVEL, RA_CLIMB, RA_DESCEND }
 

Functions

void tcas_init (void)
 
void tcas_periodic_task_1Hz (void)
 
void tcas_periodic_task_4Hz (void)
 
void callTCAS (void)
 
void parseTcasResolve (uint8_t *buf)
 
void parseTcasRA (uint8_t *buf)
 

Variables

float tcas_alt_setpoint
 
float tcas_tau_ta
 
float tcas_tau_ra
 
float tcas_dmod
 
float tcas_alim
 
uint8_t tcas_status
 
enum tcas_resolve tcas_resolve
 
uint8_t tcas_ac_RA
 
struct tcas_ac_status tcas_acs_status [NB_ACS]
 

Detailed Description

Collision avoidance library.

Definition in file tcas.h.


Data Structure Documentation

◆ tcas_ac_status

struct tcas_ac_status

Definition at line 49 of file tcas.h.

Data Fields
enum tcas_resolve resolve
uint8_t status

Macro Definition Documentation

◆ TCAS_NO_ALARM

#define TCAS_NO_ALARM   0

Definition at line 40 of file tcas.h.

◆ TCAS_RA

#define TCAS_RA   2

Definition at line 42 of file tcas.h.

◆ TCAS_TA

#define TCAS_TA   1

Definition at line 41 of file tcas.h.

Enumeration Type Documentation

◆ tcas_resolve

Enumerator
RA_NONE 
RA_LEVEL 
RA_CLIMB 
RA_DESCEND 

Definition at line 43 of file tcas.h.

Function Documentation

◆ callTCAS()

void callTCAS ( void  )

Definition at line 65 of file tcas.c.

References tcas_alt_setpoint, TCAS_RA, tcas_status, and v_ctl_altitude_setpoint.

Referenced by navigation_task().

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◆ parseTcasRA()

void parseTcasRA ( uint8_t buf)

Definition at line 95 of file tcas.c.

References dl_buffer, tcas_ac_status::resolve, tcas_acs_status, and ti_acs_id.

◆ parseTcasResolve()

void parseTcasResolve ( uint8_t buf)

Definition at line 87 of file tcas.c.

References tcas_ac_status::resolve, tcas_acs_status, and ti_acs_id.

◆ tcas_init()

◆ tcas_periodic_task_1Hz()

◆ tcas_periodic_task_4Hz()

void tcas_periodic_task_4Hz ( void  )

Variable Documentation

◆ tcas_ac_RA

uint8_t tcas_ac_RA

Definition at line 40 of file tcas.c.

Referenced by tcas_init(), tcas_periodic_task_1Hz(), and tcas_periodic_task_4Hz().

◆ tcas_acs_status

struct tcas_ac_status tcas_acs_status[NB_ACS]

Definition at line 41 of file tcas.c.

Referenced by parseTcasRA(), parseTcasResolve(), tcas_init(), and tcas_periodic_task_1Hz().

◆ tcas_alim

float tcas_alim

Definition at line 38 of file tcas.h.

◆ tcas_alt_setpoint

float tcas_alt_setpoint

Definition at line 35 of file tcas.c.

Referenced by callTCAS(), tcas_init(), and tcas_periodic_task_4Hz().

◆ tcas_dmod

float tcas_dmod

Definition at line 38 of file tcas.h.

◆ tcas_resolve

Definition at line 39 of file tcas.c.

Referenced by tcas_periodic_task_1Hz().

◆ tcas_status

uint8_t tcas_status

Definition at line 38 of file tcas.c.

Referenced by callTCAS(), tcas_init(), tcas_periodic_task_1Hz(), and tcas_periodic_task_4Hz().

◆ tcas_tau_ra

float tcas_tau_ra

Definition at line 38 of file tcas.h.

◆ tcas_tau_ta

float tcas_tau_ta

Definition at line 36 of file tcas.c.

Referenced by tcas_init(), and tcas_periodic_task_1Hz().