mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
e436d78c84
There is no longer a separated FBW in normal operation for fixedwing, only a single AP task/thread. The code for main_ap is now factorized for all firmwares. Dual MCU support (separated AP and FBW) is still possible, based on the rotorcraft implementation and intermcu pprzlink messages. Relevant code is also factorized and available in all firmwares. The recovery mode (in case of hard fault) is still available for fixedwing with ChibiOS implementation. Only intermcu_uart is supported at the moment. Other options (spi/can) might be added back in the future if really used. Some other evolution are made: - in the radio_control and actuators modules, now integrated to AP and using ABI messages - the message parsing on datalink event (defined in module) that is now properly filtering the messages based on their class and allowing to have multiple callbacks for the same message - cleaning the part of code that were using the old intermcu fixedwing interface
49 lines
2.0 KiB
XML
49 lines
2.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="distributed_circular_formation" dir="multi/dcf">
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<doc>
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<description>Distributed algorithm for circular formations with air-to-air communications.
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For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field
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</description>
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<section name="Parameters" prefix="DCF_">
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<define name="MAX_NEIGHBORS" value="4" description="Maximum number of accepted neighbors for an aircraft"/>
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<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"/>
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<define name="RADIUS" value="80" description="Radius for the desired steady-state circle"/>
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<define name="TIMEOUT" value="1500" description="After this time (in ms) if we do not have any msg from a neighborh, we ignore it"/>
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<define name="BROAD_TIME" value="200" description="Time in ms for transmiting theta to your neighbors"/>
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</section>
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</doc>
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<settings name="DCF">
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<dl_settings>
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<dl_settings NAME="DCF">
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<dl_settings NAME="Control">
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<dl_setting MAX="20" MIN="0" STEP="0.2" VAR="dcf_control.k" shortname = "Gain" param="DCF_GAIN_K"/>
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<dl_setting MAX="200" MIN="0" STEP="1" VAR="dcf_control.radius" shortname = "Radius" param="DCF_RADIUS"/>
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<dl_setting MAX="5000" MIN="0" STEP="1" VAR="dcf_control.timeout" shortname = "Timeout" param="DCF_TIMEOUT"/>
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<dl_setting MAX="1000" MIN="0" STEP="1" VAR="dcf_control.broadtime" shortname = "Broadcasting" param="DCF_BROAD_TIME"/>
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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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<dep>
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<depends>gvf_module</depends>
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</dep>
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<header>
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<file name="dcf.h"/>
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</header>
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<init fun="dcf_init()"/>
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<datalink message="DCF_REG_TABLE" fun="parseRegTable(buf)"/>
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<datalink message="DCF_THETA" fun="parseThetaTable(buf)" class="telemetry"/>
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<makefile firmware="fixedwing">
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<file name="dcf.c"/>
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</makefile>
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</module>
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