Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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nav_catapult.h File Reference

catapult launch timing system More...

#include "std.h"
#include "math/pprz_algebra_float.h"
+ Include dependency graph for nav_catapult.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  nav_catapult_struct
 

Enumerations

enum  nav_catapult_state {
  NAV_CATAPULT_UNINIT, NAV_CATAPULT_ARMED, NAV_CATAPULT_WAIT_ACCEL, NAV_CATAPULT_MOTOR_ON,
  NAV_CATAPULT_MOTOR_CLIMB, NAV_CATAPULT_DISARM
}
 

Functions

void nav_catapult_init (void)
 
void nav_catapult_highrate_module (void)
 
bool nav_catapult_run (uint8_t _climb)
 

Variables

struct nav_catapult_struct nav_catapult
 

Detailed Description

catapult launch timing system

  • Phase 1: Zero Roll, Climb Pitch, Zero Throttle
  • Phase 2: After detecting the Start Acceleration
    Zero Roll, Climb Pitch, Full Throttle
  • Phase 3: After getting the GPS heading (time based)
    Place climb in front of us
    GoTo(climb)

Definition in file nav_catapult.h.


Data Structure Documentation

struct nav_catapult_struct

Definition at line 53 of file nav_catapult.h.

+ Collaboration diagram for nav_catapult_struct:
Data Fields
float accel_threshold acceleration threshold for launch detection (in g)
float heading_delay delay to estimate initial heading after launch (in seconds)
float initial_pitch pitch angle during first take-off phase (in radian)
float initial_throttle throttle during first take-off phase (in radian)
float motor_delay delay to start motor after launch detection (in seconds)
struct FloatVect3 pos catapult position
enum nav_catapult_state status current procedure state
uint32_t timer internal timer

Enumeration Type Documentation

Enumerator
NAV_CATAPULT_UNINIT 
NAV_CATAPULT_ARMED 
NAV_CATAPULT_WAIT_ACCEL 
NAV_CATAPULT_MOTOR_ON 
NAV_CATAPULT_MOTOR_CLIMB 
NAV_CATAPULT_DISARM 

Definition at line 43 of file nav_catapult.h.

Function Documentation

Variable Documentation

struct nav_catapult_struct nav_catapult