Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_heli_spinup.c File Reference
#include "modules/nav/nav_heli_spinup.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "navigation.h"
#include "paparazzi.h"
+ Include dependency graph for nav_heli_spinup.c:

Go to the source code of this file.


void nav_heli_spinup_setup (uint16_t duration, float throttle)
 Initialization function. More...
bool nav_heli_spinup_run (void)
 Runs the heli spinup routine, with the parameters set by nav_heli_spinup_setup. More...


static struct nav_heli_spinup_t nav_heli_spinup

Detailed Description

Freek van Tienen This module controls the spinup of the main rotor from a Helicopter

Definition in file nav_heli_spinup.c.

Function Documentation

◆ nav_heli_spinup_run()

bool nav_heli_spinup_run ( void  )

◆ nav_heli_spinup_setup()

void nav_heli_spinup_setup ( uint16_t  duration,
float  throttle 

Initialization function.

durationduration over which the heli should spin up [s]
throttlethe 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 nav_heli_spinup_t::duration, RotorcraftNavigation::horizontal_mode, MAX_PPRZ, nav, nav_heli_spinup, NAV_HORIZONTAL_MODE_NONE, NAV_VERTICAL_MODE_MANUAL, stabilization_cmd, RotorcraftNavigation::throttle, nav_heli_spinup_t::throttle, and RotorcraftNavigation::vertical_mode.

Variable Documentation

◆ nav_heli_spinup

struct nav_heli_spinup_t nav_heli_spinup

Definition at line 1 of file nav_heli_spinup.c.

Referenced by nav_heli_spinup_run(), and nav_heli_spinup_setup().