collective_tracking_control module

Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.

This module needs of custom messages in messages.xml. Please, check the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control for more information about the messages and how to tune the gains.

Example for airframe file

Add to your firmware section:

<module name="collective_tracking_control"/>

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_init()

Datalink Functions

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

• on message CTC_REG_TABLE call parse_ctc_RegTable(buf)
• on message CTC_CLEAN_TABLE call parse_ctc_CleanTable(buf)
• on message CTC_INFO_TO_NEI call parse_ctc_NeiInfoTable(buf)
• on message CTC_INFO_FROM_TARGET call parse_ctc_TargetInfo(buf)

Files

Header Files

The following headers are automatically included in modules.h

• ctc.h

Source Files

• modules/multi/ctc/ctc.c

Raw collective_tracking_control.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="collective_tracking_control" dir="multi/ctc">
  <doc>
  <description>Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.

This module needs of custom messages in messages.xml. Please, check the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control for more information about the messages and how to tune the gains.
  </description>
    <section name="Parameters" prefix="CTC_">
      <define name="MAX_AC" value="4" description="Maximum number of expected aircraft"/>
    </section>
  </doc>

  <settings name="CTC">
    <dl_settings>
      <dl_settings NAME="CTC">
        <dl_settings NAME="Control">
          <dl_setting MAX="0.1" MIN="0" STEP="0.0005" VAR="ctc_control.k1" shortname = "Gain K1" param="CTC_GAIN_K1"/>
          <dl_setting MAX="0.01" MIN="0" STEP="0.00005" VAR="ctc_control.k2" shortname = "Gain K2" param="CTC_GAIN_K2"/>
          <dl_setting MAX="0.5" MIN="0" STEP="0.001" VAR="ctc_control.alpha" shortname = "Gain Alpha" param="CTC_GAIN_ALPHA"/>
          <dl_setting MAX="3" MIN="0" STEP="0.01" VAR="ctc_control.omega" shortname = "Omega" param="CTC_OMEGA"/>
          <dl_setting MAX="5000" MIN="0" STEP="1" VAR="ctc_control.timeout" shortname = "Timeout" param="CTC_TIMEOUT"/>
          <dl_setting MAX="1000" MIN="0" STEP="1" VAR="ctc_control.time_broad" shortname = "Broadcasting time" param="CTC_TIME_BROAD"/>
        </dl_settings>
       </dl_settings>
    </dl_settings>
  </settings>

  <header>
    <file name="ctc.h"/>
  </header>

  <init fun="ctc_init()"/>

  <datalink message="CTC_REG_TABLE" fun="parse_ctc_RegTable(buf)"/>
  <datalink message="CTC_CLEAN_TABLE" fun="parse_ctc_CleanTable(buf)"/>
  <datalink message="CTC_INFO_TO_NEI" fun="parse_ctc_NeiInfoTable(buf)"/>
  <datalink message="CTC_INFO_FROM_TARGET" fun="parse_ctc_TargetInfo(buf)"/>

  <makefile firmware="fixedwing">
    <file name="ctc.c"/>
  </makefile>

</module>