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683037ad95
When using a different datalink buffer than dl_buffer, the callback functions from the modules must use the buffer address passed as a parameter, otherwise there is no guarentee that the correct buffer will be parsed. Co-authored-by: pprz <xp31@free.fr>
46 lines
2.0 KiB
XML
46 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="collective_tracking_control" dir="multi/ctc">
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<doc>
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<description>Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.
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This module needs of custom messages in messages.xml. Please, check the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control for more information about the messages and how to tune the gains.
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</description>
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<section name="Parameters" prefix="CTC_">
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<define name="MAX_AC" value="4" description="Maximum number of expected aircraft"/>
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</section>
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</doc>
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<settings name="CTC">
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<dl_settings>
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<dl_settings NAME="CTC">
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<dl_settings NAME="Control">
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<dl_setting MAX="0.1" MIN="0" STEP="0.0005" VAR="ctc_control.k1" shortname = "Gain K1" param="CTC_GAIN_K1"/>
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<dl_setting MAX="0.01" MIN="0" STEP="0.00005" VAR="ctc_control.k2" shortname = "Gain K2" param="CTC_GAIN_K2"/>
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<dl_setting MAX="0.5" MIN="0" STEP="0.001" VAR="ctc_control.alpha" shortname = "Gain Alpha" param="CTC_GAIN_ALPHA"/>
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<dl_setting MAX="3" MIN="0" STEP="0.01" VAR="ctc_control.omega" shortname = "Omega" param="CTC_OMEGA"/>
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<dl_setting MAX="5000" MIN="0" STEP="1" VAR="ctc_control.timeout" shortname = "Timeout" param="CTC_TIMEOUT"/>
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<dl_setting MAX="1000" MIN="0" STEP="1" VAR="ctc_control.time_broad" shortname = "Broadcasting time" param="CTC_TIME_BROAD"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="ctc.h"/>
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</header>
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<init fun="ctc_init()"/>
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<datalink message="CTC_REG_TABLE" fun="parse_ctc_RegTable(buf)"/>
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<datalink message="CTC_CLEAN_TABLE" fun="parse_ctc_CleanTable(buf)"/>
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<datalink message="CTC_INFO_TO_NEI" fun="parse_ctc_NeiInfoTable(buf)"/>
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<datalink message="CTC_INFO_FROM_TARGET" fun="parse_ctc_TargetInfo(buf)"/>
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<makefile firmware="fixedwing">
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<file name="ctc.c"/>
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</makefile>
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</module>
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