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[module] Distributed Formation Control

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integration of #211
This commit is contained in:
Hector Garcia de Marina
2017-12-14 22:16:26 +01:00
committed by Gautier Hattenberger
parent 86101eca4d
commit b932515610
4 changed files with 358 additions and 0 deletions
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conf/modules/distributed_circular_formation.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="distributed_circular_formation" dir="dcf">
<doc>
<description>Distributed algorithm for circular formations with air-to-air communications.
For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field
</description>
<section name="Parameters" prefix="DCF_">
<define name="MAX_NEIGHBORS" value="4" description="Maximum number of accepted neighbors for an aircraft"/>
<define name="GAIN_K" value="10" description="Control gain for the algorithm. It sets the possible maximum and minimum radius of the circle to be tracked"/>
<define name="RADIUS" value="80" description="Radius for the desired steady-state circle"/>
<define name="TIMEOUT" value="1500" description="After this time (in ms) if we do not have any msg from a neighborh, we ignore it"/>
<define name="BROAD_TIME" value="200" description="Time in ms for transmiting theta to your neighbors"/>
</section>
</doc>
<settings name="DCF">
<dl_settings>
<dl_settings NAME="DCF">
<dl_settings NAME="Control">
<dl_setting MAX="20" MIN="0" STEP="0.2" VAR="dcf_control.k" shortname = "Gain" param="DCF_GAIN_K"/>
<dl_setting MAX="200" MIN="0" STEP="1" VAR="dcf_control.radius" shortname = "Radius" param="DCF_RADIUS"/>
<dl_setting MAX="5000" MIN="0" STEP="1" VAR="dcf_control.timeout" shortname = "Timeout" param="DCF_TIMEOUT"/>
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="dcf_control.broadtime" shortname = "Broadcasting" param="DCF_BROAD_TIME"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
<depends>gvf_module.xml</depends>
<header>
<file name="dcf.h"/>
</header>
<init fun="dcf_init()"/>
<datalink message="DCF_REG_TABLE" fun="parseRegTable()"/>
<datalink message="DCF_THETA" fun="parseThetaTable()"/>
<makefile firmware="fixedwing">
<file name="dcf.c"/>
</makefile>
</module>