formation.h File Reference

Formation flight library. More...

#include "subsystems/datalink/datalink.h"
#include "generated/airframe.h"
#include "modules/multi/traffic_info.h"

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Data Structures
struct	slot_

Macros
#define	FORM_MODE_GLOBAL   0
#define	FORM_MODE_COURSE   1

Enumerations
enum	slot_status { UNSET, ACTIVE, IDLE, LOST }

Functions
int	formation_init (void)
int	add_slot (uint8_t _id, float slot_e, float slot_n, float slot_a)
static void	updateSlot (uint8_t id, float se, float sn, float sa)
static void	updateFormationStatus (uint8_t id, uint8_t status)
static void	parseFormationStatus (uint8_t *buf)
static void	parseFormationSlot (uint8_t *buf)
int	start_formation (void)
int	stop_formation (void)
int	formation_flight (void)
void	formation_pre_call (void)

Variables
float	coef_form_alt
float	coef_form_pos
float	coef_form_speed
float	coef_form_course
float	form_prox
uint8_t	form_mode
uint8_t	leader_id
struct slot_	formation []

Detailed Description

Formation flight library.

Definition in file formation.h.

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Data Structure Documentation

slot_

struct slot_

Definition at line 24 of file formation.h.

Data Fields
float	alt
float	east
float	north
enum slot_status	status

Macro Definition Documentation

FORM_MODE_COURSE

#define FORM_MODE_COURSE   1

Definition at line 15 of file formation.h.

FORM_MODE_GLOBAL

#define FORM_MODE_GLOBAL   0

Definition at line 14 of file formation.h.

Enumeration Type Documentation

slot_status

enum slot_status

Enumerator
UNSET
ACTIVE
IDLE
LOST

Definition at line 22 of file formation.h.

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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parseFormationSlot()

static void parseFormationSlot ( uint8_t *  buf )

inlinestatic

Definition at line 56 of file formation.h.

References ac_id, form_mode, leader_id, mode, and updateSlot().

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parseFormationStatus()

static void parseFormationStatus ( uint8_t *  buf )

inlinestatic

Definition at line 46 of file formation.h.

References ac_id, leader_id, status, UNSET, and updateFormationStatus().

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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.

updateFormationStatus()

static void updateFormationStatus ( uint8_t  id, uint8_t  status  )

inlinestatic

Definition at line 44 of file formation.h.

References formation, slot_::status, status, and ti_acs_id.

Referenced by parseFormationStatus().

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updateSlot()

static void updateSlot ( uint8_t  id, float  se, float  sn, float  sa  )

inlinestatic

Definition at line 37 of file formation.h.

References slot_::alt, slot_::east, formation, slot_::north, and ti_acs_id.

Referenced by parseFormationSlot().

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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 17 of file formation.h.

coef_form_pos

float coef_form_pos

Definition at line 17 of file formation.h.

coef_form_speed

float coef_form_speed

Definition at line 17 of file formation.h.

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_prox

float form_prox

Definition at line 23 of file formation.c.

Referenced by formation_flight(), and formation_init().

formation

struct slot_ formation[]

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().