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Gautier Hattenberger
63 lines
4.0 KiB
XML
63 lines
4.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_fish" dir="nav" task="control">
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<doc>
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<description>
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Bio-inspired swarm navigation
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based on fish behavior as modeled in:
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Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018)
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Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct
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alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933.
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https://doi.org/10.1371/journal.pcbi.1005933
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</description>
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<section name="NAV_FISH" prefix="NAV_FISH_">
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<define name="FLUCT" value="0.1" description="intensity of fluctuations"/>
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</section>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Nav Fish">
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<dl_setting var="nav_fish_params.alt" shortname="alt" min="0.5" step=".1" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.max_velocity" shortname="max V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.min_velocity" shortname="min V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.min_d2d" shortname="min d2d" min="0.1" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.alpha" shortname="alpha" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.e_w1" shortname="e_w1" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.e_w2" shortname="e_w2" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_w" shortname="yw" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_w" shortname="lw" min="0.1" step=".1" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.fluct" shortname="fluct" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.alpha_rep" shortname="alpha rep" min="0.0" step=".01" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_att" shortname="y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_att" shortname="l_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.d0_att" shortname="d0_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.y_ali" shortname="y_ali" min="0.01" step=".01" max="10.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.l_ali" shortname="l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.d0_ali" shortname="d0_ali" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_y_att" shortname="tr_y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_l_att" shortname="tr_l_att" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_y_ali" shortname="tr_y_ali" min="0.01" step=".01" max="5.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.tr_l_ali" shortname="tr_l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
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<dl_setting var="nav_fish_params.strategy" shortname="strategy" min="0" step="1" max="2" module="modules/nav/nav_fish"/>
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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>@navigation</depends>
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</dep>
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<header>
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<file name="nav_fish.h"/>
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</header>
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<init fun="nav_fish_init()"/>
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<makefile>
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<file name="nav_fish.c"/>
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<test firmware="rotorcraft">
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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