nav_bungee_takeoff.c File Reference

Takeoff functions for bungee takeoff. More...

#include "modules/nav/nav_bungee_takeoff.h"
#include "state.h"
#include "paparazzi.h"
#include "firmwares/fixedwing/nav.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_float.h"

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Macros
#define	BUNGEE_TAKEOFF_DISTANCE   10.0
#define	BUNGEE_TAKEOFF_HEIGHT   30.0
#define	BUNGEE_TAKEOFF_MIN_SPEED   5.0
#define	BUNGEE_TAKEOFF_THROTTLE   1.0
#define	BUNGEE_TAKEOFF_PITCH   RadOfDeg(15.)

Enumerations
enum	TakeoffStatus { Launch , Throttle , Finished }

Functions
static void	compute_points_from_bungee (void)
void	nav_bungee_takeoff_setup (uint8_t bungee_wp)
	Initialization function. More...
bool	nav_bungee_takeoff_run (void)
	Bungee takeoff run function. More...

Variables
static enum TakeoffStatus	CTakeoffStatus
static struct FloatVect2	init_point
static struct FloatVect2	throttle_point
static struct FloatVect2	takeoff_dir
static struct FloatVect3	bungee_point

Detailed Description

Takeoff functions for bungee takeoff.

Run initialize function when the plane is on the bungee, the bungee is fully extended and you are ready to launch the plane. After initialized, the plane will follow a line drawn by the position of the plane on initialization and the position of the bungee (given in the arguments). Once the plane crosses the throttle line, which is perpendicular to the line the plane is following, and intersects the position of the bungee (plus or minus a fixed distance (BUNGEE_TAKEOFF_DISTANCE in airframe file) from the bungee just in case the bungee doesn't release exactly above the bungee) the prop will come on. The plane will then continue to follow the line until it has reached a specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above the bungee waypoint and airspeed (defined as BUNGEE_TAKEOFF_AIRSPEED in the airframe file). The airspeed limit is only used if USE_AIRSPEED flag is defined or set to true (and assuming the airspeed is then available). It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).

* <section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
*   <define name="HEIGHT" value="30" unit="m"/>
*   <define name="AIRSPEED" value="15" unit="m/s"/>
*   <define name="DISTANCE" value="10" unit="m"/>
*   <define name="MIN_SPEED" value="5" unit="m/s"/>
*   <define name="PITCH" value="15." unit="deg"/>
*   <define name="THROTTLE" value="1.0"/>
* </section>
* 

initial code from OSAM advanced navigation routines

Definition in file nav_bungee_takeoff.c.

Macro Definition Documentation

BUNGEE_TAKEOFF_DISTANCE

#define BUNGEE_TAKEOFF_DISTANCE   10.0

Definition at line 91 of file nav_bungee_takeoff.c.

BUNGEE_TAKEOFF_HEIGHT

#define BUNGEE_TAKEOFF_HEIGHT   30.0

Definition at line 94 of file nav_bungee_takeoff.c.

BUNGEE_TAKEOFF_MIN_SPEED

#define BUNGEE_TAKEOFF_MIN_SPEED   5.0

Definition at line 106 of file nav_bungee_takeoff.c.

BUNGEE_TAKEOFF_PITCH

#define BUNGEE_TAKEOFF_PITCH   RadOfDeg(15.)

Definition at line 115 of file nav_bungee_takeoff.c.

BUNGEE_TAKEOFF_THROTTLE

#define BUNGEE_TAKEOFF_THROTTLE   1.0

Definition at line 109 of file nav_bungee_takeoff.c.

Enumeration Type Documentation

TakeoffStatus

enum TakeoffStatus

Enumerator
Launch
Throttle
Finished

Definition at line 119 of file nav_bungee_takeoff.c.

Function Documentation

compute_points_from_bungee()

static void compute_points_from_bungee ( void  )

static

Definition at line 132 of file nav_bungee_takeoff.c.

References bungee_point, BUNGEE_TAKEOFF_DISTANCE, float_vect2_normalize(), init_point, stateGetPositionEnu_f(), takeoff_dir, throttle_point, VECT2_ASSIGN, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, FloatVect3::x, and FloatVect3::y.

Referenced by nav_bungee_takeoff_run(), and nav_bungee_takeoff_setup().

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nav_bungee_takeoff_run()

bool nav_bungee_takeoff_run

(

void

)

Bungee takeoff run function.

controls the different takeoff phases

Returns

true until the takeoff procedure ends

Definition at line 158 of file nav_bungee_takeoff.c.

References autopilot, autopilot_set_kill_throttle(), bungee_point, BUNGEE_TAKEOFF_HEIGHT, BUNGEE_TAKEOFF_MIN_SPEED, BUNGEE_TAKEOFF_PITCH, BUNGEE_TAKEOFF_THROTTLE, compute_points_from_bungee(), CTakeoffStatus, Finished, init_point, pprz_autopilot::launch, Launch, MAX_PPRZ, nav_init_stage(), nav_route_xy(), NavVerticalAutoThrottleMode, NavVerticalThrottleMode, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetPositionUtm_f(), takeoff_dir, Throttle, throttle_point, USE_AIRSPEED, VECT2_ASSIGN, VECT2_DIFF, VECT2_DOT_PRODUCT, FloatVect2::x, FloatVect2::y, and FloatVect3::z.

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nav_bungee_takeoff_setup()

void nav_bungee_takeoff_setup

(

uint8_t

bungee_wp

)

Initialization function.

called in the flight plan before the 'run' function

Parameters

[in]

bungee_wp

Waypoint ID correcponding to the bungee location

Definition at line 145 of file nav_bungee_takeoff.c.

References autopilot_set_kill_throttle(), bungee_point, compute_points_from_bungee(), CTakeoffStatus, Launch, stateGetPositionUtm_f(), VECT3_ASSIGN, WaypointX, and WaypointY.

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Variable Documentation

bungee_point

struct FloatVect3 bungee_point

static

Definition at line 1 of file nav_bungee_takeoff.c.

Referenced by compute_points_from_bungee(), nav_bungee_takeoff_run(), and nav_bungee_takeoff_setup().

CTakeoffStatus

enum TakeoffStatus CTakeoffStatus

static

Definition at line 1 of file nav_bungee_takeoff.c.

Referenced by nav_bungee_takeoff_run(), and nav_bungee_takeoff_setup().

init_point

struct FloatVect2 init_point

static

Definition at line 1 of file nav_bungee_takeoff.c.

Referenced by compute_points_from_bungee(), and nav_bungee_takeoff_run().

takeoff_dir

struct FloatVect2 takeoff_dir

static

Definition at line 1 of file nav_bungee_takeoff.c.

Referenced by compute_points_from_bungee(), and nav_bungee_takeoff_run().

throttle_point

struct FloatVect2 throttle_point

static

Definition at line 1 of file nav_bungee_takeoff.c.

Referenced by compute_points_from_bungee(), and nav_bungee_takeoff_run().