Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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nav_heli_spinup.c
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1 /*
2  * Copyright (C) Freek van Tienen <freek.v.tienen@gmail.com>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
27 #include "navigation.h"
28 #include "paparazzi.h"
29 
31 
40 {
41  nav_heli_spinup.duration = (duration > 0) ? duration : 1;
42  nav_heli_spinup.throttle = throttle * MAX_PPRZ;
43 
44  nav_throttle = 0;
45  nav_cmd_roll = 0;
46  nav_cmd_pitch = 0;
47  nav_cmd_yaw = 0;
50 }
51 
57 {
59  return false;
60  }
61 
62  nav_cmd_roll = 0;
63  nav_cmd_pitch = 0;
64  nav_cmd_yaw = 0;
68  return true;
69 }
unsigned short uint16_t
Definition: types.h:16
int32_t nav_cmd_pitch
Definition: navigation.c:105
int32_t nav_cmd_roll
Definition: navigation.c:105
#define HORIZONTAL_MODE_MANUAL
Definition: navigation.h:57
#define HORIZONTAL_MODE_ATTITUDE
Definition: navigation.h:56
uint16_t stage_time
In s.
uint32_t nav_throttle
direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL
Definition: navigation.c:110
#define MAX_PPRZ
Definition: paparazzi.h:8
int32_t nav_cmd_yaw
Definition: navigation.c:105
uint8_t vertical_mode
Definition: sim_ap.c:35
#define VERTICAL_MODE_MANUAL
Definition: navigation.h:73