These initialization functions are called once on startup.
These functions are called periodically at the specified frequency from the module periodic loop.
<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_catapult" dir="nav" task="control">
<doc>
<description>
Catapult launch timing system.
- Phase 1: Zero Roll, Climb Pitch, Zero Throttle
- Phase 2: After detecting the Start Acceleration\n
Zero Roll, Climb Pitch, Full Throttle
- Phase 3: After getting the GPS heading (time based)\n
Place climb 300m in front of us\n
GoTo(climb)\n
</description>
<section name="CATAPULT" prefix="NAV_CATAPULT_">
<define name="ACCELERATION_THRESHOLD" value="1.5" description="acceleration threshold in multiples of g" unit="g"/>
<define name="ACCELERATION_DETECTION" value="5" description="number acceleration measurments above threshold for launch detection"/>
<define name="MOTOR_DELAY" value="0.75" description="delay until motor is turned on in seconds" unit="s"/>
<define name="HEADING_DELAY" value="3.0" description="delay until heading is unlocked in seconds" unit="s"/>
<define name="INITIAL_PITCH" value="0.175" description="inital pitch in radians (default 10deg)" unit="rad"/>
<define name="INITIAL_THROTTLE" value="1.0" description="initial throttle (0.0 to 1.0)" unit="%"/>
<define name="CLIMB_DISTANCE" value="300" description="distance of the climb waypoint in front of the catapult" unit="m"/>
<define name="TIMEOUT" value="30." description="timeout to disarm the high freq module" unit="s"/>
</section>
</doc>
<settings>
<dl_settings name="control">
<dl_settings name="catapult">
<dl_setting max="5.0" min="0.05" step="0.05" module="nav/nav_catapult" var="nav_catapult.motor_delay" shortname="Motor Delay" param="NAV_CATAPULT_MOTOR_DELAY" unit="seconds"/>
<dl_setting max="3.0" min="-3.0" step="0.1" var="nav_catapult.accel_threshold" shortname="G-Threshold" param="NAV_CATAPULT_ACCELERATION_THRESHOLD" unit="g"/>
<dl_setting max="10." min="0.25" step="0.05" var="nav_catapult.heading_delay" shortname="Heading-Delay" param="NAV_CATAPULT_HEADING_DELAY" unit="seconds"/>
<dl_setting max="40" min="-20" step="0.5" var="nav_catapult.initial_pitch" shortname="TO Pitch" param="NAV_CATAPULT_INITIAL_PITCH" unit="rad" alt_unit="deg"/>
<dl_setting max="1.0" min="0.0" step="0.01" var="nav_catapult.initial_throttle" shortname="TO Gas" param="NAV_CATAPULT_INITIAL_THROTTLE" unit="percent"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation</depends>
</dep>
<header>
<file name="nav_catapult.h"/>
</header>
<init fun="nav_catapult_init()"/>
<periodic fun="nav_catapult_highrate_module()" autorun="TRUE"/>
<makefile target="ap|sim|nps">
<file name="nav_catapult.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
<define name="NAV_CATAPULT_HIGHRATE_MODULE_FREQ" value="100"/>
</test>
</makefile>
</module>