distributed_circular_formation module

Distributed algorithm for circular formations with air-to-air communications.

For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field

Example for airframe file

Add to your firmware section:

<module name="gvf_module.xml"/>
<module name="distributed_circular_formation"/>

Module configuration options

Airframe file section

• section name: Parameters prefix: DCF_
  • name MAX_NEIGHBORS value: 4
    Description: Maximum number of accepted neighbors for an aircraft
  • name GAIN_K value: 10
    Description: Control gain for the algorithm. It sets the possible maximum and minimum radius of the circle to be tracked
  • name RADIUS value: 80
    Description: Radius for the desired steady-state circle
  • name TIMEOUT value: 1500
    Description: After this time (in ms) if we do not have any msg from a neighborh, we ignore it
  • name BROAD_TIME value: 200
    Description: Time in ms for transmiting theta to your neighbors

Dependencies

• module__gvf_module_xml

Module functions

Init Functions

These initialization functions are called once on startup.

• dcf_init()

Datalink Functions

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

• on message DCF_REG_TABLE call parseRegTable(buf)
• on message DCF_THETA call parseThetaTable(buf)

Files

Header Files

The following headers are automatically included in modules.h

• dcf.h

Source Files

• modules/multi/dcf/dcf.c

Raw distributed_circular_formation.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="distributed_circular_formation" dir="multi/dcf">
  <doc>
    <description>Distributed algorithm for circular formations with air-to-air communications.
    For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field 
    </description>
    <section name="Parameters" prefix="DCF_">
      <define name="MAX_NEIGHBORS" value="4" description="Maximum number of accepted neighbors for an aircraft"/>
      <define name="GAIN_K" value="10" description="Control gain for the algorithm. It sets the possible maximum and minimum radius of the circle to be tracked"/>
      <define name="RADIUS" value="80" description="Radius for the desired steady-state circle"/>
      <define name="TIMEOUT" value="1500" description="After this time (in ms) if we do not have any msg from a neighborh, we ignore it"/>
      <define name="BROAD_TIME" value="200" description="Time in ms for transmiting theta to your neighbors"/>
    </section>
  </doc>

  <settings name="DCF">
    <dl_settings>
      <dl_settings NAME="DCF">
        <dl_settings NAME="Control">
          <dl_setting MAX="20" MIN="0" STEP="0.2" VAR="dcf_control.k" shortname = "Gain" param="DCF_GAIN_K"/>
          <dl_setting MAX="200" MIN="0" STEP="1" VAR="dcf_control.radius" shortname = "Radius" param="DCF_RADIUS"/>
          <dl_setting MAX="5000" MIN="0" STEP="1" VAR="dcf_control.timeout" shortname = "Timeout" param="DCF_TIMEOUT"/>
          <dl_setting MAX="1000" MIN="0" STEP="1" VAR="dcf_control.broadtime" shortname = "Broadcasting" param="DCF_BROAD_TIME"/>
        </dl_settings>
       </dl_settings>
    </dl_settings>
  </settings>

  <depends>gvf_module.xml</depends>

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

  <init fun="dcf_init()"/>

  <datalink message="DCF_REG_TABLE" fun="parseRegTable(buf)"/>
  <datalink message="DCF_THETA" fun="parseThetaTable(buf)"/>

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

</module>