mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Hector Garcia de Marina
47 lines
1.9 KiB
XML
47 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="distributed_circular_formation" dir="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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<depends>gvf_module.xml</depends>
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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()"/>
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<datalink message="DCF_THETA" fun="parseThetaTable()"/>
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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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