Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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nav_catapult.h File Reference

catapult launch timing system More...

#include "std.h"
#include "paparazzi.h"
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Go to the source code of this file.

Functions

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

Variables

float nav_catapult_motor_delay
 
float nav_catapult_acceleration_threshold
 
float nav_catapult_heading_delay
 
float nav_catapult_initial_pitch
 
float nav_catapult_initial_throttle
 

Detailed Description

catapult launch timing system

  • Phase 1: Zero Roll, Climb Pitch, Zero Throttle
  • Phase 2: After detecting the Start Acceleration
    Zero Roll, Climb Pitch, Full Throttle
  • Phase 3: After getting the GPS heading (time based)
    Place climb 300m in front of us
    GoTo(climb)

Definition in file nav_catapult.h.

Function Documentation

bool_t nav_catapult_arm ( void  )
bool_t nav_catapult_disarm ( void  )
bool_t nav_catapult_init ( void  )

Definition at line 141 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 210 of file nav_catapult.c.

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

Variable Documentation

float nav_catapult_acceleration_threshold

Definition at line 66 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module().

float 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

Definition at line 84 of file nav_catapult.c.

Referenced by nav_catapult().

float nav_catapult_initial_throttle

Definition at line 90 of file nav_catapult.c.

Referenced by nav_catapult(), and nav_catapult_highrate_module().

float nav_catapult_motor_delay

Definition at line 72 of file nav_catapult.c.

Referenced by nav_catapult(), and nav_catapult_highrate_module().