formation.c File Reference

library for formation flight More...

#include <math.h>
#include "subsystems/datalink/downlink.h"
#include "multi/formation.h"
#include "state.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "autopilot.h"
#include "subsystems/gps.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "dl_protocol.h"
#include <stdio.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

#define FORM_ALTITUDE_PGAIN   0.

Definition at line 55 of file formation.c.

Referenced by formation_init().

#define FORM_CARROT   2.

Definition at line 39 of file formation.c.

Referenced by formation_flight(), and formation_init().

#define FORM_COURSE_PGAIN   0.

Definition at line 51 of file formation.c.

Referenced by formation_init().

#define FORM_MODE   0

Definition at line 63 of file formation.c.

Referenced by formation_init().

#define FORM_POS_PGAIN   0.

Definition at line 43 of file formation.c.

Referenced by formation_init().

#define FORM_PROX   20.

Definition at line 59 of file formation.c.

Referenced by formation_init().

#define FORM_SPEED_PGAIN   0.

Definition at line 47 of file formation.c.

Referenced by formation_init().

#define FORMATION_C

Definition at line 5 of file formation.c.

Function Documentation

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

Definition at line 84 of file formation.c.

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

int formation_flight

(

void

)

Definition at line 128 of file formation.c.

References ac_id, ACTIVE, slot_::alt, ac_info_::alt, UtmCoor_f::alt, coef_form_alt, coef_form_pos, coef_form_speed, ac_info_::course, DefaultChannel, DefaultDevice, desired_x, desired_y, slot_::east, ac_info_::east, FALSE, 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, get_ac_info(), gps, ground_alt, ac_info_::gspeed, IDLE, ac_info_::itow, leader_id, LOST, Max, nav_altitude, NavVerticalAutoThrottleMode, NB_ACS, slot_::north, ac_info_::north, SetAcInfo, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetPositionUtm_f(), stateGetSpeedEnu_f(), slot_::status, the_acs, the_acs_id, GpsState::tow, TRUE, UNSET, v_ctl_auto_throttle_cruise_throttle, EnuCoor_f::x, and EnuCoor_f::y.

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int formation_init

(

void

)

Definition at line 66 of file formation.c.

References coef_form_alt, coef_form_course, coef_form_pos, coef_form_speed, FALSE, 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, leader_id, NB_ACS, old_alt, old_cruise, slot_::status, and UNSET.

void formation_pre_call

(

void

)

Definition at line 261 of file formation.c.

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

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int start_formation

(

void

)

Definition at line 95 of file formation.c.

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

int stop_formation

(

void

)

Definition at line 110 of file formation.c.

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

Variable Documentation

float coef_form_alt

Definition at line 31 of file formation.c.

Referenced by formation_flight(), and formation_init().

float coef_form_course

Definition at line 30 of file formation.c.

Referenced by formation_init().

float coef_form_pos

Definition at line 28 of file formation.c.

Referenced by formation_flight(), and formation_init().

float coef_form_speed

Definition at line 29 of file formation.c.

Referenced by formation_flight(), and formation_init().

float form_a

Definition at line 23 of file formation.c.

Referenced by formation_flight().

float form_carrot

Definition at line 26 of file formation.c.

Referenced by formation_flight(), and formation_init().

float form_e

Definition at line 23 of file formation.c.

Referenced by formation_flight().

uint8_t form_mode

Definition at line 32 of file formation.c.

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

float form_n

Definition at line 23 of file formation.c.

Referenced by formation_flight().

float form_prox

Definition at line 27 of file formation.c.

Referenced by formation_flight(), and formation_init().

float form_speed

Definition at line 24 of file formation.c.

Referenced by formation_flight().

float form_speed_e

Definition at line 24 of file formation.c.

Referenced by formation_flight().

float form_speed_n

Definition at line 24 of file formation.c.

Referenced by formation_flight().

struct slot_ formation[NB_ACS]

Definition at line 36 of file formation.c.

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

uint8_t leader_id

Definition at line 33 of file formation.c.

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

float old_alt

Definition at line 34 of file formation.c.

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

float old_cruise

Definition at line 34 of file formation.c.

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