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add tcas to funjets

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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
+20 -1
View File
@@ -50,6 +50,8 @@
<!-- modules --> <!-- modules -->
<modules> <modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules> </modules>
<!-- commands section --> <!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section> </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_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <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!!--> <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
@@ -205,7 +224,7 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
</airframe> </airframe>
conf/airframes/mm/fixed-wing/funjetdcb.xml
+19
View File
@@ -50,6 +50,8 @@
<!-- modules --> <!-- modules -->
<modules> <modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules> </modules>
<!-- commands section --> <!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section> </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_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <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!!--> <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 -->
<modules> <modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
</modules> </modules>
<!-- commands section --> <!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section> </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_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <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!!--> <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->