nav_takeoff_and_landing module

Navigation routines for takeoff and landing

Basic procedures for rotorcraft and fixed-wing:

• Takeoff rotorcraft: from current location, can move a WP to takeoff point or not
• Takeoff fixedwing: in direction of a WP, flight plan QFU, or specified location
• Landing rotorcraft: land at current location, to a specified WP or location, with a glide or not
• Landing fixedwing: land with a glide between two WPs or from a direction/distance, or land with a circle Functions can be called from flight plan or from the mission module if loaded.

Example for airframe file

Add to your firmware section:

<module name="nav_takeoff_and_landing"/>

Module configuration options

Airframe file section

• section name: NAV_TAKEOFF prefix: NAV_TAKEOFF_
  • name CLIMB_SPEED value: 1.0
    Description: Takeoff climb speed (rotorcraft, default: NAV_CLIMB_VSPEED)
  • name PITCH value: 15.
    Description: Takeoff pitch angle (fixedwing)
  • name THROTTLE value: 1.0
    Description: Takeoff throttle (fixedwing, normalized [0-1])
  • name HEIGHT value: 2./20.
    Description: Takeoff end height (default: rotorcraft=2., fixedwing=20.
  • name DIST value: 200.
    Description: Takeoff end distance (fixedwing)
  • name AUTO_LAUNCH value: FALSE|TRUE
    Description: Set 'launch' setting automatically (fixedwing, default: TRUE)
• section name: NAV_LANDING prefix: NAV_LANDING_
  • name DESCEND_SPEED value: -1.
    Description: Landing descent speed (default: rotorcraft=NAV_DESCEND_VSPEED, fixedwing=-1.0)
  • name AF_HEIGHT value: 5./30.
    Description: Landing start of descent height (default: rotorcraft=5., fixedwing=30.)
  • name FLARE_HEIGHT value: 2./10.
    Description: Landing flare height (default: rotorcraft=2., fixedwing=10.)

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_takeoff_and_landing_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• nav_takeoff_and_landing_periodic()
  • Frequency in Hz: 1.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• nav_takeoff_and_landing.h

Source Files

• modules/nav/nav_takeoff_and_landing_fw.c
• modules/nav/nav_takeoff_and_landing_rotorcraft.c

Raw nav_takeoff_and_landing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_takeoff_and_landing" dir="nav" task="control">
  <doc>
    <description>
      Navigation routines for takeoff and landing
      Basic procedures for rotorcraft and fixed-wing:
      - Takeoff rotorcraft: from current location, can move a WP to takeoff point or not
      - Takeoff fixedwing: in direction of a WP, flight plan QFU, or specified location
      - Landing rotorcraft: land at current location, to a specified WP or location, with a glide or not
      - Landing fixedwing: land with a glide between two WPs or from a direction/distance, or land with a circle
      Functions can be called from flight plan or from the mission module if loaded.
    </description>
    <section name="NAV_TAKEOFF" prefix="NAV_TAKEOFF_">
      <define name="CLIMB_SPEED" value="1.0" description="Takeoff climb speed (rotorcraft, default: NAV_CLIMB_VSPEED)"/>
      <define name="PITCH" value="15." unit="deg" description="Takeoff pitch angle (fixedwing)"/>
      <define name="THROTTLE" value="1.0" unit="[0-1]" description="Takeoff throttle (fixedwing, normalized [0-1])"/>
      <define name="HEIGHT" value="2./20." unit="m" description="Takeoff end height (default: rotorcraft=2., fixedwing=20."/>
      <define name="DIST" value="200." unit="m" description="Takeoff end distance (fixedwing)"/>
      <define name="AUTO_LAUNCH" value="FALSE|TRUE" description="Set 'launch' setting automatically (fixedwing, default: TRUE)"/>
    </section>
    <section name="NAV_LANDING" prefix="NAV_LANDING_">
      <define name="DESCEND_SPEED" value="-1." description="Landing descent speed (default: rotorcraft=NAV_DESCEND_VSPEED, fixedwing=-1.0)"/>
      <define name="AF_HEIGHT" value="5./30." description="Landing start of descent height (default: rotorcraft=5., fixedwing=30.)"/>
      <define name="FLARE_HEIGHT" value="2./10." description="Landing flare height (default: rotorcraft=2., fixedwing=10.)"/>
    </section>
  </doc>
  <dep>
    <depends>@navigation</depends>
    <recommends>@mission</recommends>
  </dep>
  <header>
    <file name="nav_takeoff_and_landing.h"/>
  </header>
  <init fun="nav_takeoff_and_landing_init()"/>
  <periodic fun="nav_takeoff_and_landing_periodic()" freq="1."/>
  <makefile firmware="fixedwing">
    <file name="nav_takeoff_and_landing_fw.c"/>
    <test firmware="fixedwing">
      <define name="USE_MISSION"/>
    </test>
  </makefile>
  <makefile firmware="rotorcraft">
    <file name="nav_takeoff_and_landing_rotorcraft.c"/>
    <test firmware="rotorcraft">
      <define name="USE_MISSION"/>
    </test>
  </makefile>
</module>