Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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nav_heli_spinup.h File Reference
#include "std.h"
#include "paparazzi.h"
#include "modules/helicopter/throttle_curve.h"
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Data Structures

struct  nav_heli_spinup_t
 

Functions

void nav_heli_spinup_setup (uint16_t duration, float throttle)
 Initialization function. More...
 
bool nav_heli_spinup_run (void)
 Heli spinup run function. More...
 

Detailed Description

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

Definition in file nav_heli_spinup.h.


Data Structure Documentation

struct nav_heli_spinup_t

Definition at line 33 of file nav_heli_spinup.h.

Data Fields
uint16_t duration The duration in seconds to reach the final throttle.
uint32_t throttle The final throttle level.

Function Documentation

bool nav_heli_spinup_run ( void  )

Heli spinup run function.

Controls the spinup of the throttle without stabilization

Returns
true until the takeoff procedure ends

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.

Called in the flight plan before the 'run' function

Parameters
[in]durationThe duration in seconds before reaching final throttle level
[in]throttleThe throttle value to go to
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.