nav_heli_spinup.c File Reference

#include "modules/nav/nav_heli_spinup.h"
#include "firmwares/rotorcraft/stabilization.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

nav_heli_spinup_run()

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 64 of file nav_heli_spinup.c.

References Stabilization::cmd, nav_heli_spinup_t::duration, RotorcraftNavigation::horizontal_mode, nav, nav_heli_spinup, NAV_HORIZONTAL_MODE_NONE, NAV_VERTICAL_MODE_MANUAL, stabilization, stage_time, RotorcraftNavigation::throttle, nav_heli_spinup_t::throttle, and RotorcraftNavigation::vertical_mode.

nav_heli_spinup_setup()

void nav_heli_spinup_setup	(	uint16_t	duration,
		float	throttle
	)

Initialization function.

Parameters

duration	duration over which the heli should spin up [s]
throttle	the 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 40 of file nav_heli_spinup.c.

References Stabilization::cmd, nav_heli_spinup_t::duration, RotorcraftNavigation::horizontal_mode, MAX_PPRZ, nav, nav_heli_spinup, NAV_HORIZONTAL_MODE_NONE, NAV_VERTICAL_MODE_MANUAL, stabilization, RotorcraftNavigation::throttle, nav_heli_spinup_t::throttle, and RotorcraftNavigation::vertical_mode.

Variable Documentation

nav_heli_spinup

struct nav_heli_spinup_t nav_heli_spinup

static

Definition at line 1 of file nav_heli_spinup.c.

Referenced by nav_heli_spinup_run(), and nav_heli_spinup_setup().