Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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nav_heli_spinup.c File Reference
#include "modules/nav/nav_heli_spinup.h"
#include "navigation.h"
#include "paparazzi.h"
+ Include dependency graph for nav_heli_spinup.c:

Go to the source code of this file.

Functions

void nav_heli_spinup_setup (uint16_t duration, float throttle)
 Initialization function. More...
 
bool nav_heli_spinup_run (void)
 Runs the heli spinup routine, with the parameters set by nav_heli_spinup_setup. More...
 

Variables

static struct nav_heli_spinup_t nav_heli_spinup
 

Detailed Description

Author
Freek van Tienen This module controls the spinup of the main rotor from a Helicopter

Definition in file nav_heli_spinup.c.

Function Documentation

bool nav_heli_spinup_run ( void  )

Runs the heli spinup routine, with the parameters set by nav_heli_spinup_setup.

Heli spinup run function.

Definition at line 56 of file nav_heli_spinup.c.

References nav_heli_spinup_t::duration, horizontal_mode, HORIZONTAL_MODE_MANUAL, nav_cmd_pitch, nav_cmd_roll, nav_cmd_yaw, nav_heli_spinup, nav_throttle, stage_time, nav_heli_spinup_t::throttle, vertical_mode, and VERTICAL_MODE_MANUAL.

void nav_heli_spinup_setup ( uint16_t  duration,
float  throttle 
)

Initialization function.

Parameters
durationduration over which the heli should spin up [s]
throttlethe final throttle at the end of the spinup

Sets the heli spinup routine parameters and sets the horizontal and vertical modes to manual, with zero commands

Definition at line 39 of file nav_heli_spinup.c.

References nav_heli_spinup_t::duration, horizontal_mode, HORIZONTAL_MODE_ATTITUDE, MAX_PPRZ, nav_cmd_pitch, nav_cmd_roll, nav_cmd_yaw, nav_heli_spinup, nav_throttle, nav_heli_spinup_t::throttle, vertical_mode, and VERTICAL_MODE_MANUAL.

Variable Documentation

struct nav_heli_spinup_t nav_heli_spinup
static

Definition at line 30 of file nav_heli_spinup.c.

Referenced by nav_heli_spinup_run(), and nav_heli_spinup_setup().