[paparazzi-commits] [6393] add tcas to funjets

paparazzi-commits

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

[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!!-->

[Prev in Thread]

Current Thread

[Next in Thread]

[paparazzi-commits] [6393] add tcas to funjets, Gautier Hattenberger <=

Prev by Date: [paparazzi-commits] [6392] change detection range for tcas
Next by Date: [paparazzi-commits] [6394] converted slowfly 1 and 2 to xml less airframes
Previous by thread: [paparazzi-commits] [6392] change detection range for tcas
Next by thread: [paparazzi-commits] [6394] converted slowfly 1 and 2 to xml less airframes
Index(es):
- Date
- Thread