formation_flight module

Formation flight control

No detailed description...

Example for airframe file

Add to your firmware section:

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

Dependencies

• traffic_info module

Module functions

Init Functions

These initialization functions are called once on startup.

• formation_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message FORMATION_STATUS call parseFormationStatus()
• on message FORMATION_SLOT call parseFormationSlot()

Files

Header Files

The following headers are automatically included in modules.h

• formation.h

Source Files

• modules/multi/formation.c

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>