dcf.c File Reference

#include <math.h>
#include <std.h>
#include "modules/muti/dcf/dcf.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/navigation/common_nav.h"
#include "autopilot.h"

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Macros
#define	DCF_GAIN_K   10
#define	DCF_RADIUS   80
#define	DCF_TIMEOUT   1500
#define	DCF_BROADTIME   200

Functions
static void	send_dcf (struct transport_tx *trans, struct link_device *dev)
void	dcf_init (void)
bool	distributed_circular (uint8_t wp)
void	send_theta_to_nei (void)
void	parseRegTable (uint8_t *buf)
void	parseThetaTable (uint8_t *buf)

Variables
struct dcf_con	dcf_control = {DCF_GAIN_K, DCF_RADIUS, DCF_TIMEOUT, 0, DCF_BROADTIME}
struct dcf_tab	dcf_tables
uint32_t	last_transmision = 0

Macro Definition Documentation

#define DCF_BROADTIME   200

Default broadcasting time

Definition at line 55 of file dcf.c.

#define DCF_GAIN_K   10

Default gain k for the algorithm

Definition at line 43 of file dcf.c.

#define DCF_RADIUS   80

Default radius for the circumference

Definition at line 47 of file dcf.c.

#define DCF_TIMEOUT   1500

Default timeout for the neighbors' information

Definition at line 51 of file dcf.c.

Function Documentation

void dcf_init

(

void

)

Definition at line 63 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, DefaultPeriodic, dcf_tab::error_sigma, register_periodic_telemetry(), send_dcf(), and dcf_tab::tableNei.

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bool distributed_circular

(

uint8_t

wp

)

Definition at line 75 of file dcf.c.

References AP_MODE_AUTO2, autopilot_get_mode(), dcf_con::broadtime, c1, c2, DCF_MAX_NEIGHBORS, dcf_tables, dcf_tab::error_sigma, get_sys_time_msec(), gvf_control, gvf_ellipse_XY(), dcf_con::k, dcf_tab::last_theta, last_transmision, p, dcf_con::radius, gvf_con::s, send_theta_to_nei(), stateGetPositionEnu_f(), dcf_tab::tableNei, dcf_con::theta, dcf_con::timeout, timeout, waypoints, point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

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void parseRegTable

(

uint8_t *

buf

)

Definition at line 140 of file dcf.c.

References ac_id, DCF_MAX_NEIGHBORS, dcf_tables, and dcf_tab::tableNei.

void parseThetaTable

(

uint8_t *

buf

)

Definition at line 169 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, get_sys_time_msec(), dcf_tab::last_theta, and dcf_tab::tableNei.

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static void send_dcf ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 33 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, dcf_tab::error_sigma, and dcf_tab::tableNei.

Referenced by dcf_init().

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void send_theta_to_nei

(

void

)

Definition at line 125 of file dcf.c.

References DCF_MAX_NEIGHBORS, dcf_tables, DefaultChannel, DefaultDevice, dcf_tab::tableNei, and dcf_con::theta.

Referenced by distributed_circular().

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Variable Documentation

struct dcf_con dcf_control = {DCF_GAIN_K, DCF_RADIUS, DCF_TIMEOUT, 0, DCF_BROADTIME}

Definition at line 58 of file dcf.c.

struct dcf_tab dcf_tables

Definition at line 59 of file dcf.c.

Referenced by dcf_init(), distributed_circular(), parseRegTable(), parseThetaTable(), send_dcf(), and send_theta_to_nei().

uint32_t last_transmision = 0

Definition at line 61 of file dcf.c.

Referenced by distributed_circular().