Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Go to the source code of this file.
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... | |
Definition in file nav_heli_spinup.h.
struct nav_heli_spinup_t |
Definition at line 33 of file nav_heli_spinup.h.
Data Fields | ||
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uint16_t | duration | The duration in seconds to reach the final throttle. |
uint32_t | throttle | The final throttle level. |
bool nav_heli_spinup_run | ( | void | ) |
Heli spinup run function.
Controls the spinup of the throttle without stabilization
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.
void nav_heli_spinup_setup | ( | uint16_t | duration, |
float | throttle | ||
) |
Initialization function.
Called in the flight plan before the 'run' function
[in] | duration | The duration in seconds before reaching final throttle level |
[in] | throttle | The throttle value to go to |
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.