Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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nav_catapult.c File Reference
#include "generated/airframe.h"
#include "estimator.h"
#include "ap_downlink.h"
#include "modules/nav/nav_catapult.h"
#include "subsystems/nav.h"
#include "generated/flight_plan.h"
#include "firmwares/fixedwing/autopilot.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "subsystems/imu.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/datalink.h"
+ Include dependency graph for nav_catapult.c:

Go to the source code of this file.

Macros

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE
 
#define NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5;
 
#define NAV_CATAPULT_MOTOR_DELAY   45
 
#define NAV_CATAPULT_HEADING_DELAY   180
 
#define NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)
 
#define NAV_CATAPULT_INITIAL_THROTTLE   1.0
 

Functions

void nav_catapult_highrate_module (void)
 
bool_t nav_catapult_init (void)
 
bool_t nav_catapult (uint8_t _to, uint8_t _climb)
 
bool_t nav_select_touch_down (uint8_t _td)
 

Variables

static bool_t nav_catapult_armed = FALSE
 
static uint16_t nav_catapult_launch = 0
 
float nav_catapult_acceleration_threshold = NAV_CATAPULT_ACCELERATION_THRESHOLD
 
int nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY
 
int nav_catapult_heading_delay = NAV_CATAPULT_HEADING_DELAY
 
float nav_catapult_initial_pitch = NAV_CATAPULT_INITIAL_PITCH
 
float nav_catapult_initial_throttle = NAV_CATAPULT_INITIAL_THROTTLE
 
static float nav_catapult_x = 0
 
static float nav_catapult_y = 0
 

Macro Definition Documentation

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 52 of file nav_catapult.c.

#define NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5;

Definition at line 63 of file nav_catapult.c.

#define NAV_CATAPULT_HEADING_DELAY   180

Definition at line 75 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)

Definition at line 81 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_THROTTLE   1.0

Definition at line 87 of file nav_catapult.c.

#define NAV_CATAPULT_MOTOR_DELAY   45

Definition at line 69 of file nav_catapult.c.

Function Documentation

bool_t nav_catapult_init ( void  )

Definition at line 138 of file nav_catapult.c.

References FALSE, nav_catapult_armed, nav_catapult_launch, and TRUE.

bool_t nav_select_touch_down ( uint8_t  _td)

Definition at line 208 of file nav_catapult.c.

References FALSE, GetPosAlt, GetPosX, GetPosY, WaypointAlt, WaypointX, and WaypointY.

Variable Documentation

float nav_catapult_acceleration_threshold = NAV_CATAPULT_ACCELERATION_THRESHOLD

Definition at line 66 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module().

bool_t nav_catapult_armed = FALSE
static

Definition at line 59 of file nav_catapult.c.

Referenced by nav_catapult(), nav_catapult_highrate_module(), and nav_catapult_init().

int nav_catapult_heading_delay = NAV_CATAPULT_HEADING_DELAY

Definition at line 78 of file nav_catapult.c.

Referenced by nav_catapult(), and nav_catapult_highrate_module().

float nav_catapult_initial_pitch = NAV_CATAPULT_INITIAL_PITCH

Definition at line 84 of file nav_catapult.c.

Referenced by nav_catapult().

float nav_catapult_initial_throttle = NAV_CATAPULT_INITIAL_THROTTLE

Definition at line 90 of file nav_catapult.c.

Referenced by nav_catapult(), and nav_catapult_highrate_module().

uint16_t nav_catapult_launch = 0
static

Definition at line 60 of file nav_catapult.c.

Referenced by nav_catapult(), nav_catapult_highrate_module(), and nav_catapult_init().

int nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY

Definition at line 72 of file nav_catapult.c.

Referenced by nav_catapult(), and nav_catapult_highrate_module().

float nav_catapult_x = 0
static

Definition at line 94 of file nav_catapult.c.

Referenced by nav_catapult().

float nav_catapult_y = 0
static

Definition at line 95 of file nav_catapult.c.

Referenced by nav_catapult().