formation.c File Reference

library for formation flight More...

#include "multi/formation.h"
#include "std.h"
#include "state.h"
#include "subsystems/datalink/downlink.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "generated/flight_plan.h"

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Macros
#define	FORMATION_C
#define	FORM_CARROT   2.
#define	FORM_POS_PGAIN   0.
#define	FORM_SPEED_PGAIN   0.
#define	FORM_COURSE_PGAIN   0.
#define	FORM_ALTITUDE_PGAIN   0.
#define	FORM_PROX   20.
#define	FORM_MODE   0

Functions
int	formation_init (void)
int	add_slot (uint8_t _id, float slot_e, float slot_n, float slot_a)
int	start_formation (void)
int	stop_formation (void)
int	formation_flight (void)
void	formation_pre_call (void)

Variables
float	form_n
float	form_e
float	form_a
float	form_speed
float	form_speed_n
float	form_speed_e
float	form_carrot
float	form_prox
float	coef_form_pos
float	coef_form_speed
float	coef_form_course
float	coef_form_alt
uint8_t	form_mode
uint8_t	leader_id
float	old_cruise
float	old_alt
struct slot_	formation [NB_ACS]

Detailed Description

library for formation flight

Definition in file formation.c.

Macro Definition Documentation

FORM_ALTITUDE_PGAIN

#define FORM_ALTITUDE_PGAIN   0.

Definition at line 51 of file formation.c.

FORM_CARROT

#define FORM_CARROT   2.

Definition at line 35 of file formation.c.

FORM_COURSE_PGAIN

#define FORM_COURSE_PGAIN   0.

Definition at line 47 of file formation.c.

FORM_MODE

#define FORM_MODE   0

Definition at line 59 of file formation.c.

FORM_POS_PGAIN

#define FORM_POS_PGAIN   0.

Definition at line 39 of file formation.c.

FORM_PROX

#define FORM_PROX   20.

Definition at line 55 of file formation.c.

FORM_SPEED_PGAIN

#define FORM_SPEED_PGAIN   0.

Definition at line 43 of file formation.c.

FORMATION_C

#define FORMATION_C

Definition at line 5 of file formation.c.

Function Documentation

add_slot()

int add_slot	(	uint8_t	_id,
		float	slot_e,
		float	slot_n,
		float	slot_a
	)

Definition at line 80 of file formation.c.

References slot_::alt, DefaultChannel, DefaultDevice, slot_::east, form_mode, formation, IDLE, slot_::north, slot_::status, and ti_acs_id.

formation_flight()

int formation_flight

(

void

)

Definition at line 124 of file formation.c.

References ac_id, acInfoGetCourse(), acInfoGetGspeed(), acInfoGetItow(), acInfoGetPositionEnu_f(), acInfoGetVelocityEnu_f(), ACTIVE, slot_::alt, coef_form_alt, coef_form_pos, coef_form_speed, DefaultChannel, DefaultDevice, desired_x, desired_y, slot_::east, flight_altitude, fly_to_xy(), form_a, form_carrot, FORM_CARROT, form_e, form_mode, FORM_MODE_COURSE, form_n, form_prox, form_speed, form_speed_e, form_speed_n, formation, gps, ground_alt, IDLE, leader_id, LOST, Max, nav_altitude, NavVerticalAutoThrottleMode, NB_ACS, slot_::north, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), slot_::status, status, ti_acs, ti_acs_id, GpsState::tow, UNSET, v_ctl_auto_throttle_cruise_throttle, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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formation_init()

int formation_init

(

void

)

Definition at line 62 of file formation.c.

References coef_form_alt, coef_form_course, coef_form_pos, coef_form_speed, FORM_ALTITUDE_PGAIN, form_carrot, FORM_CARROT, FORM_COURSE_PGAIN, form_mode, FORM_MODE, FORM_POS_PGAIN, form_prox, FORM_PROX, FORM_SPEED_PGAIN, formation, ground_alt, leader_id, NB_ACS, old_alt, old_cruise, slot_::status, and UNSET.

formation_pre_call()

void formation_pre_call

(

void

)

Definition at line 254 of file formation.c.

References slot_::east, formation, leader_id, slot_::north, stateGetPositionEnu_f(), ti_acs_id, EnuCoor_f::x, and EnuCoor_f::y.

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start_formation()

int start_formation

(

void

)

Definition at line 91 of file formation.c.

References ac_id, ACTIVE, DefaultChannel, DefaultDevice, formation, IDLE, leader_id, nav_altitude, NB_ACS, old_alt, old_cruise, slot_::status, status, and v_ctl_auto_throttle_cruise_throttle.

stop_formation()

int stop_formation

(

void

)

Definition at line 106 of file formation.c.

References ac_id, ACTIVE, DefaultChannel, DefaultDevice, formation, ground_alt, IDLE, leader_id, nav_altitude, NB_ACS, old_alt, old_cruise, slot_::status, status, and v_ctl_auto_throttle_cruise_throttle.

Variable Documentation

coef_form_alt

float coef_form_alt

Definition at line 27 of file formation.c.

Referenced by formation_flight(), and formation_init().

coef_form_course

float coef_form_course

Definition at line 26 of file formation.c.

Referenced by formation_init().

coef_form_pos

float coef_form_pos

Definition at line 24 of file formation.c.

Referenced by formation_flight(), and formation_init().

coef_form_speed

float coef_form_speed

Definition at line 25 of file formation.c.

Referenced by formation_flight(), and formation_init().

form_a

float form_a

Definition at line 19 of file formation.c.

Referenced by formation_flight().

form_carrot

float form_carrot

Definition at line 22 of file formation.c.

Referenced by formation_flight(), and formation_init().

form_e

float form_e

Definition at line 19 of file formation.c.

Referenced by formation_flight().

form_mode

uint8_t form_mode

Definition at line 28 of file formation.c.

Referenced by add_slot(), formation_flight(), formation_init(), and parseFormationSlot().

form_n

float form_n

Definition at line 19 of file formation.c.

Referenced by formation_flight().

form_prox

float form_prox

Definition at line 23 of file formation.c.

Referenced by formation_flight(), and formation_init().

form_speed

float form_speed

Definition at line 20 of file formation.c.

Referenced by formation_flight().

form_speed_e

float form_speed_e

Definition at line 20 of file formation.c.

Referenced by formation_flight().

form_speed_n

float form_speed_n

Definition at line 20 of file formation.c.

Referenced by formation_flight().

formation

struct slot_ formation[NB_ACS]

Definition at line 32 of file formation.c.

Referenced by add_slot(), formation_flight(), formation_init(), formation_pre_call(), start_formation(), stop_formation(), updateFormationStatus(), and updateSlot().

leader_id

uint8_t leader_id

Definition at line 29 of file formation.c.

Referenced by formation_flight(), formation_init(), formation_pre_call(), parseFormationSlot(), parseFormationStatus(), start_formation(), and stop_formation().

old_alt

float old_alt

Definition at line 30 of file formation.c.

Referenced by formation_init(), start_formation(), and stop_formation().

old_cruise

float old_cruise

Definition at line 30 of file formation.c.

Referenced by formation_init(), start_formation(), and stop_formation().