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[paparazzi-commits] [6393] add tcas to funjets
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [6393] add tcas to funjets |
Date: |
Thu, 11 Nov 2010 10:20:47 +0000 |
Revision: 6393
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6393
Author: gautier
Date: 2010-11-11 10:20:47 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
add tcas to funjets
Modified Paths:
--------------
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
2010-11-11 10:14:35 UTC (rev 6392)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
2010-11-11 10:20:47 UTC (rev 6393)
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
+ <!--load name="formation_flight.xml"/-->
+ <load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</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_">
<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!!-->
@@ -197,15 +216,15 @@
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
+ </section>
<section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
+ <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
</airframe>
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
2010-11-11 10:14:35 UTC (rev 6392)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
2010-11-11 10:20:47 UTC (rev 6393)
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
+ <!--load name="formation_flight.xml"/-->
+ <load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</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_">
<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!!-->
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
2010-11-11 10:14:35 UTC (rev 6392)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
2010-11-11 10:20:47 UTC (rev 6393)
@@ -50,6 +50,8 @@
<!-- modules -->
<modules>
+ <!--load name="formation_flight.xml"/-->
+ <load name="tcas.xml"/>
</modules>
<!-- commands section -->
@@ -188,6 +190,23 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</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_">
<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!!-->
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