nav_heli_spinup.h File Reference

#include "std.h"
#include "paparazzi.h"
#include "modules/helicopter/throttle_curve.h"

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Data Structures
struct	nav_heli_spinup_t

Functions
void	nav_heli_spinup_setup (uint16_t duration, float throttle)
	Initialization function. More...
bool	nav_heli_spinup_run (void)
	Heli spinup run function. More...

Detailed Description

Author

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

Definition in file nav_heli_spinup.h.

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Data Structure Documentation

nav_heli_spinup_t

struct nav_heli_spinup_t

Definition at line 33 of file nav_heli_spinup.h.

Data Fields
uint16_t	duration	The duration in seconds to reach the final throttle.
uint32_t	throttle	The final throttle level.

Function Documentation

nav_heli_spinup_run()

bool nav_heli_spinup_run

(

void

)

Heli spinup run function.

Controls the spinup of the throttle without stabilization

Returns

true until the takeoff procedure ends

Heli spinup run function.

Definition at line 56 of file nav_heli_spinup.c.

References RotorcraftNavigation::cmd_pitch, RotorcraftNavigation::cmd_roll, RotorcraftNavigation::cmd_yaw, nav_heli_spinup_t::duration, RotorcraftNavigation::horizontal_mode, nav, nav_heli_spinup, NAV_HORIZONTAL_MODE_MANUAL, NAV_VERTICAL_MODE_MANUAL, stage_time, RotorcraftNavigation::throttle, nav_heli_spinup_t::throttle, and RotorcraftNavigation::vertical_mode.

nav_heli_spinup_setup()

void nav_heli_spinup_setup	(	uint16_t	duration,
		float	throttle
	)

Initialization function.

Called in the flight plan before the 'run' function

Parameters

[in]	duration	The duration in seconds before reaching final throttle level
[in]	throttle	The throttle value to go to
	duration	duration over which the heli should spin up [s]
	throttle	the 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 39 of file nav_heli_spinup.c.

References RotorcraftNavigation::cmd_pitch, RotorcraftNavigation::cmd_roll, RotorcraftNavigation::cmd_yaw, nav_heli_spinup_t::duration, RotorcraftNavigation::horizontal_mode, MAX_PPRZ, nav, nav_heli_spinup, NAV_HORIZONTAL_MODE_ATTITUDE, NAV_VERTICAL_MODE_MANUAL, RotorcraftNavigation::throttle, nav_heli_spinup_t::throttle, and RotorcraftNavigation::vertical_mode.