dcf.h File Reference

Distributed circular formation algorithm. More...

#include "std.h"

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Data Structures
struct	dcf_con
struct	dcf_tab

Macros
#define	DCF_MAX_NEIGHBORS   4

Functions
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
struct dcf_tab	dcf_tables

Detailed Description

Distributed circular formation algorithm.

Definition in file dcf.h.

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Data Structure Documentation

struct dcf_con

Definition at line 37 of file dcf.h.

Data Fields
uint16_t	broadtime
float	k
float	radius
float	theta
uint16_t	timeout

struct dcf_tab

Definition at line 47 of file dcf.h.

Data Fields
int16_t	error_sigma[DCF_MAX_NEIGHBORS]
uint32_t	last_theta[DCF_MAX_NEIGHBORS]
int16_t	tableNei[DCF_MAX_NEIGHBORS][4]

Macro Definition Documentation

#define DCF_MAX_NEIGHBORS   4

Default number of neighbors per aircraft

Definition at line 34 of file dcf.h.

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

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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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

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().