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Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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#include "modules/safety/parachute.h"
#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "modules/sonar/agl_dist.h"
#include "modules/datalink/telemetry.h"
Go to the source code of this file.
Macros | |
#define | PARACHUTE_AGL_THRESHOLD 6.0 |
#define | PARACHUTE_AGL_COUNTER_TRIGGER 10 |
#define | PARACHUTE_ATT_ANGLE_THRESHOLD RadOfDeg(55.f) |
Functions | |
void | check_parachute_arming (void) |
void | check_parachute_trigger (void) |
static void | send_parachute (struct transport_tx *trans, struct link_device *dev) |
void | init_parachute (void) |
void | periodic_parachute (void) |
Variables | |
struct Parachute | parachute |
bool | close_to_ground = true |
Definition in file parachute.c.
#define PARACHUTE_AGL_COUNTER_TRIGGER 10 |
Definition at line 35 of file parachute.c.
#define PARACHUTE_AGL_THRESHOLD 6.0 |
Definition at line 31 of file parachute.c.
#define PARACHUTE_ATT_ANGLE_THRESHOLD RadOfDeg(55.f) |
Definition at line 40 of file parachute.c.
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inline |
Definition at line 88 of file parachute.c.
References agl_dist_valid, agl_dist_value_filtered, AP_MODE_RATE_DIRECT, Parachute::armed, autopilot, close_to_ground, pprz_autopilot::mode, parachute, PARACHUTE_AGL_COUNTER_TRIGGER, PARACHUTE_AGL_THRESHOLD, and stateGetPositionEnu_f().
Referenced by periodic_parachute().
void check_parachute_trigger | ( | void | ) |
Definition at line 121 of file parachute.c.
References AP_MODE_KILL, autopilot, Parachute::deploy, pprz_autopilot::mode, parachute, PARACHUTE_ATT_ANGLE_THRESHOLD, FloatEulers::phi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.
Referenced by periodic_parachute().
void init_parachute | ( | void | ) |
Definition at line 59 of file parachute.c.
References Parachute::armed, Parachute::arming_method, AUTO, DefaultPeriodic, Parachute::deploy, parachute, register_periodic_telemetry(), and send_parachute().
void periodic_parachute | ( | void | ) |
Definition at line 71 of file parachute.c.
References Parachute::armed, Parachute::arming_method, AUTO, check_parachute_arming(), check_parachute_trigger(), OFF, and parachute.
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static |
Definition at line 52 of file parachute.c.
References Parachute::armed, Parachute::arming_method, Parachute::deploy, dev, msg, and parachute.
Referenced by init_parachute().
bool close_to_ground = true |
Definition at line 45 of file parachute.c.
Referenced by check_parachute_arming().
struct Parachute parachute |
Definition at line 1 of file parachute.c.
Referenced by check_parachute_arming(), check_parachute_trigger(), init_parachute(), periodic_parachute(), and send_parachute().