formation.h File Reference

Formation flight library. More...

#include "firmwares/fixedwing/nav.h"
#include "subsystems/navigation/traffic_info.h"

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Data Structures
struct	slot_

Macros
#define	FORM_MODE_GLOBAL   0
#define	FORM_MODE_COURSE   1
#define	UpdateSlot(_id, _se, _sn, _sa)
#define	UpdateFormationStatus(_id, _status)   { formation[the_acs_id[_id]].status = _status; }
#define	ParseFormationStatus()
#define	ParseFormationSlot()

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)
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 [NB_ACS]

Detailed Description

Formation flight library.

Definition in file formation.h.

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Data Structure Documentation

struct slot_

Definition at line 23 of file formation.h.

Data Fields
float	alt
float	east
float	north
enum slot_status	status

Macro Definition Documentation

#define FORM_MODE_COURSE   1

Definition at line 14 of file formation.h.

Referenced by formation_flight().

#define FORM_MODE_GLOBAL   0

Definition at line 13 of file formation.h.

#define ParseFormationSlot

(

)

Value:

{ \
    uint8_t ac_id = DL_FORMATION_SLOT_ac_id(dl_buffer); \
    uint8_t mode = DL_FORMATION_SLOT_mode(dl_buffer); \
    float slot_east = DL_FORMATION_SLOT_slot_east(dl_buffer); \
    float slot_north = DL_FORMATION_SLOT_slot_north(dl_buffer); \
    float slot_alt = DL_FORMATION_SLOT_slot_alt(dl_buffer); \
    UpdateSlot(ac_id, slot_east, slot_north, slot_alt); \
    if (ac_id == leader_id) form_mode = mode; \
  }

Definition at line 53 of file formation.h.

#define ParseFormationStatus

(

)

Value:

{ \
    uint8_t ac_id = DL_FORMATION_STATUS_ac_id(dl_buffer); \
    uint8_t leader = DL_FORMATION_STATUS_leader_id(dl_buffer); \
    uint8_t status = DL_FORMATION_STATUS_status(dl_buffer); \
    if (ac_id == AC_ID) leader_id = leader; \
    else if (leader == leader_id) { UpdateFormationStatus(ac_id,status); } \
    else { UpdateFormationStatus(ac_id,UNSET); } \
  }

Definition at line 44 of file formation.h.

#define UpdateFormationStatus	(		_id,
			_status
	)		{ formation[the_acs_id[_id]].status = _status; }

Definition at line 42 of file formation.h.

#define UpdateSlot	(		_id,
			_se,
			_sn,
			_sa
	)

Value:

{ \
    formation[the_acs_id[_id]].east = _se; \
    formation[the_acs_id[_id]].north = _sn; \
    formation[the_acs_id[_id]].alt = _sa; \
  }

Definition at line 36 of file formation.h.

Enumeration Type Documentation

enum slot_status

Enumerator
UNSET
ACTIVE
IDLE
LOST

Definition at line 21 of file formation.h.

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().

uint8_t form_mode

Definition at line 32 of file formation.c.

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

float form_prox

Definition at line 27 of file formation.c.

Referenced by formation_flight(), and formation_init().

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().