tcas.c File Reference

Collision avoidance library. More...

#include "multi/tcas.h"
#include "generated/airframe.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "subsystems/gps.h"
#include "generated/flight_plan.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	TCAS_TAU_TA   2*CARROT
#define	TCAS_TAU_RA   CARROT
#define	TCAS_DMOD   10.
#define	TCAS_ALIM   15.
#define	TCAS_DT_MAX   1500
#define	TCAS_HUGE_TAU   100*TCAS_TAU_TA
#define	TCAS_IsInside()   ( (ddh < Square(tcas_dmod) && ddv < Square(2*tcas_alim)) ? 1 : 0 )

Functions
void	tcas_init (void)
static enum tcas_resolve	tcas_test_direction (uint8_t id)
void	tcas_periodic_task_1Hz (void)
void	tcas_periodic_task_4Hz (void)

Variables
float	tcas_alt_setpoint
float	tcas_tau_ta
float	tcas_tau_ra
float	tcas_dmod
float	tcas_alim
uint8_t	tcas_status
enum tcas_resolve	tcas_resolve
uint8_t	tcas_ac_RA
struct tcas_ac_status	tcas_acs_status [NB_ACS]

Detailed Description

Collision avoidance library.

Definition in file tcas.c.

Macro Definition Documentation

#define TCAS_ALIM   15.

Definition at line 59 of file tcas.c.

Referenced by tcas_init().

#define TCAS_DMOD   10.

Definition at line 55 of file tcas.c.

Referenced by tcas_init().

#define TCAS_DT_MAX   1500

Definition at line 63 of file tcas.c.

Referenced by tcas_periodic_task_1Hz().

#define TCAS_HUGE_TAU   100*TCAS_TAU_TA

Definition at line 66 of file tcas.c.

Referenced by tcas_periodic_task_1Hz().

#define TCAS_IsInside

(

)

( (ddh < Square(tcas_dmod) && ddv < Square(2*tcas_alim)) ? 1 : 0 )

Definition at line 69 of file tcas.c.

Referenced by tcas_periodic_task_1Hz().

#define TCAS_TAU_RA   CARROT

Definition at line 51 of file tcas.c.

Referenced by tcas_init().

#define TCAS_TAU_TA   2*CARROT

Definition at line 47 of file tcas.c.

Referenced by tcas_init().

Function Documentation

void tcas_init

(

void

)

Definition at line 71 of file tcas.c.

References NB_ACS, RA_NONE, tcas_ac_status::resolve, tcas_ac_status::status, tcas_ac_RA, tcas_acs_status, tcas_alim, TCAS_ALIM, tcas_alt_setpoint, tcas_dmod, TCAS_DMOD, TCAS_NO_ALARM, tcas_status, tcas_tau_ra, TCAS_TAU_RA, tcas_tau_ta, and TCAS_TAU_TA.

void tcas_periodic_task_1Hz

(

void

)

Definition at line 102 of file tcas.c.

References ac_info_::ac_id, ac_id, ac_info_::alt, UtmCoor_f::alt, ac_info_::climb, ac_info_::course, DefaultChannel, DefaultDevice, ac_info_::east, gps, ac_info_::gspeed, ac_info_::itow, NB_ACS, ac_info_::north, RA_CLIMB, RA_DESCEND, RA_LEVEL, RA_NONE, tcas_ac_status::resolve, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetPositionUtm_f(), stateGetSpeedEnu_f(), tcas_ac_status::status, tcas_ac_RA, tcas_acs_status, TCAS_DT_MAX, TCAS_HUGE_TAU, TCAS_IsInside, TCAS_NO_ALARM, TCAS_RA, tcas_resolve, tcas_status, TCAS_TA, tcas_tau_ra, tcas_tau_ta, tcas_test_direction(), the_acs, the_acs_id, GpsState::tow, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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void tcas_periodic_task_4Hz

(

void

)

Definition at line 219 of file tcas.c.

References ac_info_::alt, get_ac_info(), Max, Min, nav_altitude, RA_CLIMB, RA_DESCEND, RA_LEVEL, RA_NONE, stateGetPositionUtm_f(), tcas_ac_RA, tcas_alim, tcas_alt_setpoint, TCAS_RA, and tcas_status.

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static enum tcas_resolve tcas_test_direction ( uint8_t  id )

inlinestatic

Definition at line 88 of file tcas.c.

References ac_info_::alt, UtmCoor_f::alt, get_ac_info(), RA_CLIMB, RA_DESCEND, stateGetPositionUtm_f(), and tcas_alim.

Referenced by tcas_periodic_task_1Hz().

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Variable Documentation

uint8_t tcas_ac_RA

Definition at line 43 of file tcas.c.

Referenced by tcas_init(), tcas_periodic_task_1Hz(), and tcas_periodic_task_4Hz().

struct tcas_ac_status tcas_acs_status[NB_ACS]

Definition at line 44 of file tcas.c.

Referenced by dl_parse_msg(), tcas_init(), and tcas_periodic_task_1Hz().

float tcas_alim

Definition at line 39 of file tcas.c.

Referenced by tcas_init(), tcas_periodic_task_4Hz(), and tcas_test_direction().

float tcas_alt_setpoint

Definition at line 38 of file tcas.c.

Referenced by tcas_init(), and tcas_periodic_task_4Hz().

float tcas_dmod

Definition at line 39 of file tcas.c.

Referenced by tcas_init().

enum tcas_resolve tcas_resolve

Definition at line 42 of file tcas.c.

Referenced by tcas_periodic_task_1Hz().

uint8_t tcas_status

Definition at line 41 of file tcas.c.

Referenced by tcas_init(), tcas_periodic_task_1Hz(), and tcas_periodic_task_4Hz().

float tcas_tau_ra

Definition at line 39 of file tcas.c.

Referenced by tcas_init(), and tcas_periodic_task_1Hz().

float tcas_tau_ta

Definition at line 39 of file tcas.c.

Referenced by tcas_init(), and tcas_periodic_task_1Hz().