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add tcas to funjets

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This commit is contained in:
Gautier Hattenberger
2010-11-11 10:20:47 +00:00
committed by Felix Ruess
parent 776755aca1
commit d4e20809c6
3 changed files with 64 additions and 7 deletions
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conf/airframes/mm/fixed-wing/funjetdca.xml
+26 -7
View File
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="FORMATION" prefix="FORM_">
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
</section>
<section name="TCAS" prefix="TCAS_">
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
@@ -197,15 +216,15 @@
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
</airframe>
conf/airframes/mm/fixed-wing/funjetdcb.xml
+19
View File
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="FORMATION" prefix="FORM_">
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
</section>
<section name="TCAS" prefix="TCAS_">
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
conf/airframes/mm/fixed-wing/funjetdcc.xml
+19
View File
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="FORMATION" prefix="FORM_">
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
</section>
<section name="TCAS" prefix="TCAS_">
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->