Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 14:18:00 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[module] fix formation flight module and load from flight plan (#2630)

Browse Source
This commit is contained in:
Gautier Hattenberger
2020-12-11 17:03:05 +01:00
committed by GitHub
parent 172f8fe44b
commit 905a396246
3 changed files with 10 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/flight_plans/formation/form_follow.xml
+4
View File
@@ -9,6 +9,10 @@
<waypoint alt="260.0" name="WAIT1" x="118.0" y="84.9"/>
<waypoint alt="240.0" name="WAIT2" x="-34.4" y="143.5"/>
</waypoints>
<modules>
<module name="traffic_info"/>
<module name="formation_flight"/>
</modules>
<blocks>
<block name="init formation">
<!-- formation_init() is already called -->
conf/flight_plans/formation/form_leader.xml
+4
View File
@@ -14,6 +14,10 @@
<waypoint alt="210.0" name="AF" x="187.0" y="-2.8"/>
<waypoint alt="185.0" name="RWAY" x="42.3" y="47.5"/>
</waypoints>
<modules>
<module name="traffic_info"/>
<module name="formation_flight"/>
</modules>
<blocks>
<block name="init formation">
<!-- formation_init() is already called -->
sw/airborne/modules/multi/formation.h
+2 -2
View File
@@ -7,7 +7,7 @@
#ifndef FORMATION_H
#define FORMATION_H
//#include "subsystems/datalink/datalink.h" // dl_buffer
#include "subsystems/datalink/datalink.h" // dl_buffer
#include "generated/airframe.h" // AC_ID
#include "modules/multi/traffic_info.h"
@@ -43,7 +43,7 @@ static inline void updateSlot(uint8_t id, float se, float sn, float sa)
static inline void updateFormationStatus(uint8_t id, uint8_t status) { formation[ti_acs_id[id]].status = status; }
static inline void parseFormationStatus(uint8_t *buff)
static inline void parseFormationStatus(uint8_t *buf)
{
uint8_t ac_id = DL_FORMATION_STATUS_ac_id(buf);
uint8_t leader = DL_FORMATION_STATUS_leader_id(buf);