parachute.c File Reference

#include "modules/safety/parachute.h"
#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "modules/sonar/agl_dist.h"
#include "modules/datalink/telemetry.h"

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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

Detailed Description

Author

Ewoud Smeur e.j.j.nosp@m..sme.nosp@m.ur@tu.nosp@m.delf.nosp@m.t.nl This module triggers automatic deployment of the parachute.

Definition in file parachute.c.

Macro Definition Documentation

PARACHUTE_AGL_COUNTER_TRIGGER

#define PARACHUTE_AGL_COUNTER_TRIGGER   10

Definition at line 35 of file parachute.c.

PARACHUTE_AGL_THRESHOLD

#define PARACHUTE_AGL_THRESHOLD   6.0

Definition at line 31 of file parachute.c.

PARACHUTE_ATT_ANGLE_THRESHOLD

#define PARACHUTE_ATT_ANGLE_THRESHOLD   RadOfDeg(55.f)

Definition at line 40 of file parachute.c.

Function Documentation

check_parachute_arming()

void check_parachute_arming ( void  )

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().

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check_parachute_trigger()

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().

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init_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().

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periodic_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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send_parachute()

static void send_parachute ( struct transport_tx *  trans, struct link_device *  dev  )

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().

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Variable Documentation

close_to_ground

bool close_to_ground = true

Definition at line 45 of file parachute.c.

Referenced by check_parachute_arming().

parachute

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().