Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
formation_flight module

Formation flight control

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="formation_flight"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Datalink Functions

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

  • on message FORMATION_STATUS call parseFormationStatus(buf)
  • on message FORMATION_SLOT call parseFormationSlot(buf)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw formation_flight.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="formation_flight" dir="multi">
<doc>
<description>Formation flight control</description>
</doc>
<settings>
<dl_settings>
<dl_settings name="formation">
<dl_setting MAX="24" MIN="0" STEP="1" VAR="leader_id" module="multi/formation"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_pos" shortname="pos_gain" module="multi/formation" param="FORM_POS_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_speed" shortname="speed_gain" module="multi/formation" param="FORM_SPEED_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_course" shortname="course_gain" module="multi/formation" param="FORM_COURSE_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_alt" shortname="alt_gain" module="multi/formation" param="FORM_ALTITUDE_PGAIN"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="form_mode" module="multi/formation" values="GLOBAL|LOCAL" param="FORM_MODE"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>traffic_info</depends>
</dep>
<header>
<file name="formation.h"/>
</header>
<init fun="formation_init()"/>
<datalink message="FORMATION_STATUS" fun="parseFormationStatus(buf)"/>
<datalink message="FORMATION_SLOT" fun="parseFormationSlot(buf)"/>
<makefile>
<file name="formation.c"/>
</makefile>
</module>