Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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nav_catapult.c File Reference
#include "generated/airframe.h"
#include "state.h"
#include "subsystems/datalink/downlink.h"
#include "modules/nav/nav_catapult.h"
#include "firmwares/fixedwing/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 NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5
 
#define NAV_CATAPULT_MOTOR_DELAY   0.75
 
#define NAV_CATAPULT_HEADING_DELAY   3.0
 
#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_setup (void)
 
bool_t nav_catapult_run (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
 
float nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY
 
float 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 NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5

Definition at line 60 of file nav_catapult.c.

#define NAV_CATAPULT_HEADING_DELAY   3.0

Definition at line 72 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)

Definition at line 78 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_THROTTLE   1.0

Definition at line 84 of file nav_catapult.c.

#define NAV_CATAPULT_MOTOR_DELAY   0.75

Definition at line 66 of file nav_catapult.c.

Function Documentation

bool_t nav_catapult_setup ( void  )

Definition at line 139 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 UtmCoor_f::alt, FALSE, stateGetPositionEnu_f(), stateGetPositionUtm_f(), WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

float nav_catapult_acceleration_threshold = NAV_CATAPULT_ACCELERATION_THRESHOLD

Definition at line 63 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module().

bool_t nav_catapult_armed = FALSE
static
float nav_catapult_heading_delay = NAV_CATAPULT_HEADING_DELAY

Definition at line 75 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

float nav_catapult_initial_pitch = NAV_CATAPULT_INITIAL_PITCH

Definition at line 81 of file nav_catapult.c.

Referenced by nav_catapult_run().

float nav_catapult_initial_throttle = NAV_CATAPULT_INITIAL_THROTTLE

Definition at line 87 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

uint16_t nav_catapult_launch = 0
static
float nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY

Definition at line 69 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

float nav_catapult_x = 0
static

Definition at line 91 of file nav_catapult.c.

Referenced by nav_catapult_run().

float nav_catapult_y = 0
static

Definition at line 92 of file nav_catapult.c.

Referenced by nav_catapult_run().