Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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nav_fish module

Bio-inspired swarm navigation

based on fish behavior as modeled in: Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018) Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933. https://doi.org/10.1371/journal.pcbi.1005933

Example for airframe file

Add to your firmware section:

1 <module name="nav_fish"/>

Module configuration options

Airframe file section

  • section name: NAV_FISH prefix: NAV_FISH_
    • name FLUCT value: 0.1
      Description: intensity of fluctuations

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw nav_fish.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_fish" dir="nav">
<doc>
<description>
Bio-inspired swarm navigation
based on fish behavior as modeled in:
Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018)
Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct
alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933.
https://doi.org/10.1371/journal.pcbi.1005933
</description>
<section name="NAV_FISH" prefix="NAV_FISH_">
<define name="FLUCT" value="0.1" description="intensity of fluctuations"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Nav Fish">
<dl_setting var="nav_fish_params.alt" shortname="alt" min="0.5" step=".1" max="10.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.max_velocity" shortname="max V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.min_velocity" shortname="min V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.min_d2d" shortname="min d2d" min="0.1" step=".1" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.alpha" shortname="alpha" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.e_w1" shortname="e_w1" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.e_w2" shortname="e_w2" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.y_w" shortname="yw" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.l_w" shortname="lw" min="0.1" step=".1" max="10.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.fluct" shortname="fluct" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.alpha_rep" shortname="alpha rep" min="0.0" step=".01" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.y_att" shortname="y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.l_att" shortname="l_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.d0_att" shortname="d0_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.y_ali" shortname="y_ali" min="0.01" step=".01" max="10.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.l_ali" shortname="l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.d0_ali" shortname="d0_ali" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.tr_y_att" shortname="tr_y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.tr_l_att" shortname="tr_l_att" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.tr_y_ali" shortname="tr_y_ali" min="0.01" step=".01" max="5.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.tr_l_ali" shortname="tr_l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
<dl_setting var="nav_fish_params.strategy" shortname="strategy" min="0" step="1" max="2" module="modules/nav/nav_fish"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="nav_fish.h"/>
</header>
<init fun="nav_fish_init()"/>
<makefile>
<file name="nav_fish.c"/>
<test firmware="rotorcraft">
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>