:orphan:

.. ****************************************************************************
.. CUI
..
.. The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
..
.. The use, dissemination or disclosure of data in this file is subject to
.. limitation or restriction. See accompanying README and LICENSE for details.
.. ****************************************************************************

WSF_FORMATION_FLYER
-------------------

.. model:: mover WSF_FORMATION_FLYER

.. parsed-literal::

   mover :model:`WSF_FORMATION_FLYER`

      ... :ref:`Platform_Part_Commands` ...

      // `Mover Commands`_

      update_interval_ ...
      update_time_tolerance_ ...

      // `Follower Commands`_

      position_ ...
      altitude_ ...
      speed_ ...
      heading_ ...
      body_g_limit_ ...
      maximum_bank_angle_ ...
      maximum_axial_acceleration_ ...
      maximum_radial_acceleration_ ...
      maximum_climb_rate_ ...
      maximum_roll_rate_ ...
      maximum_turn_rate_ ...
      maximum_speed_ ...
      minimum_speed_ ...
      velocity_pursuit_gain_ ...

       // `Formation Flyer Commands`_

      lead_aircraft_ ...
      formation_rolls_with_lead_
      offset_forward_from_lead_ ...
      offset_right_from_lead_ ...
      offset_down_from_lead_ ...
      initialize_at_offset_

   end_mover

Overview
========

.. block:: WSF_FORMATION_FLYER

Mover Commands
==============

.. command:: update_interval <time-value>

   If non-zero, specifies a periodic time interval at which the simulation will call the mover.  If zero then the mover will be called only when it is necessary to determine the position of the containing platform.

   **Default:** 0 seconds unless overridden by the specific mover implementation.

.. command:: update_time_tolerance <time-value>

   When a position update is requested by the simulation, if the time since the previous update is less than or equal to this value then the mover will ignore the update.

   **Default:** Most mover implementations define this as the time it takes to travel 1 meter at some nominal velocity that is appropriate for the implementation.

   .. note::

      A mover implementation may choose to ignore this command.

Follower Commands
=================

.. command:: position <latitude-value> <longitude-value>

   **Default:** 0n 0e

   Initial latitude and longitude position.

.. command:: altitude <length-value>

   Initial altitude above ellipsoid. (msl)

   **Default:** 0 meters

.. command:: speed <speed-value>

   Initial speed.

   **Default:** 10 meters / second

.. command:: heading <angle-value>

   Initial heading.

   **Default:** 0 degrees

.. command:: body_g_limit <acceleration-value>

   The body g-limit. Value must be greater than the acceleration of earth's gravity.

.. command:: maximum_bank_angle <angle-value>

   Maximum allowable bank angle. Value must be between 5 degrees to 85 degrees.

.. command:: maximum_axial_acceleration <acceleration-value>

   Maximum axial acceleration to use when acceleration is necessary.

   **Default:** 0 g's

.. command:: maximum_radial_acceleration <acceleration-value>

   Maximum radial acceleration to use when turning.

   **Default:** 2 g's

.. command:: maximum_climb_rate <speed-value>

   The climb rate to use when an altitude change is necessary.  This value is used if the waypoint does not include a
   climb_rate specification.

   **Default:** 5 meters / second

.. command:: maximum_roll_rate <angle-rate-value>

   Maximum roll rate. Value must be greater than 0.

.. command:: maximum_turn_rate <angle-rate-value>

   Maximum roll rate. Value must be greater than 0.

.. command:: maximum_speed <speed-value>

   Maximum speed constraint. Value must be greater than 0

.. command:: minimum_speed <speed-value>

   Minimum speed constraint. Value must be greater than 0.

.. command:: velocity_pursuit_gain <real-value>

   The factor of proportion applied to the heading change required to null the velocity vector to point at the offset point from the leader. This is the desired lateral acceleration when roll rate limits are imposed. Value must be greater than 0.

Formation Flyer Commands
========================

.. command:: lead_aircraft <name-value>

   The name of the lead platform.

.. command:: formation_rolls_with_lead

   The formation rolls with the lead platform.

   **Default:** Formation stays flat in the NED frame.

.. command:: offset_forward_from_lead <length-value>

   Offset forward from the lead platform.

.. command:: offset_right_from_lead <length-value>

   Offset to the right of the lead platform.

.. command:: offset_down_from_lead <length-value>

   Offset below the lead platform.

.. command:: initialize_at_offset

   The follower platform is initially placed at the supplied offset from the lead platform instead of the initial position
   (latitude, longitude, altitude).