From d4e20809c6514031c27235153c7ebe8f95864c55 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Thu, 11 Nov 2010 10:20:47 +0000
Subject: [PATCH] add tcas to funjets

---
 conf/airframes/mm/fixed-wing/funjetdca.xml | 33 +++++++++++++++++-----
 conf/airframes/mm/fixed-wing/funjetdcb.xml | 19 +++++++++++++
 conf/airframes/mm/fixed-wing/funjetdcc.xml | 19 +++++++++++++
 3 files changed, 64 insertions(+), 7 deletions(-)

diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 14848fce8d..43cad0aa91 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -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>
 
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 4b56f80786..a22e56f15f 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -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!!-->
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 78f6d25771..77de4b18a2 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -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!!-->