uav_recovery.c File Reference

#include "autopilot.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "modules/nav/common_nav.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "modules/datalink/datalink.h"
#include "modules/multi/traffic_info.h"
#include "modules/core/commands.h"
#include "uav_recovery.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	PARACHUTE_TRIGGER_DELAY   2.
	TERMINAL VELOCITY OF THE PARACHUTE PLUS PAYLOAD. More...
#define	PARACHUTE_DESCENT_RATE   3.0
#define	PARACHUTE_WIND_CORRECTION   1.0
#define	PARACHUTE_LINE_LENGTH   3.0

Functions
static void	send_wind_info (struct transport_tx *trans, struct link_device *dev)
void	uav_recovery_init (void)
void	uav_recovery_periodic (void)
uint8_t	LockParachute (void)
uint8_t	DeployParachute (void)
uint8_t	calculate_wind_no_airspeed (uint8_t wp, float radius, float height)
unit_t	parachute_compute_approach (uint8_t baseleg, uint8_t release, uint8_t wp_target)

Variables
float	parachute_start_qdr
float	parachute_z
float	airborne_wind_dir = 0
float	airborne_wind_speed = 0
float	calculated_wind_dir = 0
bool	wind_measurements_valid = true
bool	wind_info_valid = false
bool	deploy_parachute_var = 0
bool	land_direction = 0

Macro Definition Documentation

PARACHUTE_DESCENT_RATE

#define PARACHUTE_DESCENT_RATE   3.0

Definition at line 62 of file uav_recovery.c.

PARACHUTE_LINE_LENGTH

#define PARACHUTE_LINE_LENGTH   3.0

Definition at line 68 of file uav_recovery.c.

PARACHUTE_TRIGGER_DELAY

#define PARACHUTE_TRIGGER_DELAY   2.

TERMINAL VELOCITY OF THE PARACHUTE PLUS PAYLOAD.

Definition at line 58 of file uav_recovery.c.

PARACHUTE_WIND_CORRECTION

#define PARACHUTE_WIND_CORRECTION   1.0

Definition at line 65 of file uav_recovery.c.

Function Documentation

calculate_wind_no_airspeed()

uint8_t calculate_wind_no_airspeed	(	uint8_t	wp,
		float	radius,
		float	height
	)

Definition at line 148 of file uav_recovery.c.

References airborne_wind_dir, airborne_wind_speed, calculated_wind_dir, GetPosAlt, Height, init, MAX_PPRZ, nav_in_circle, NavCircleCount, NavCircleWaypoint, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavVerticalThrottleMode, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), wind_info_valid, and wind_measurements_valid.

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DeployParachute()

uint8_t DeployParachute

(

void

)

Definition at line 139 of file uav_recovery.c.

References deploy_parachute_var.

LockParachute()

uint8_t LockParachute

(

void

)

Definition at line 131 of file uav_recovery.c.

References deploy_parachute_var.

parachute_compute_approach()

unit_t parachute_compute_approach	(	uint8_t	baseleg,
		uint8_t	release,
		uint8_t	wp_target
	)

Definition at line 235 of file uav_recovery.c.

References point::a, airborne_wind_speed, calculated_wind_dir, ground_alt, nav_radius, PARACHUTE_DESCENT_RATE, PARACHUTE_LINE_LENGTH, parachute_start_qdr, PARACHUTE_WIND_CORRECTION, parachute_z, waypoints, point::x, and point::y.

send_wind_info()

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

static

Definition at line 84 of file uav_recovery.c.

References airborne_wind_dir, airborne_wind_speed, and dev.

Referenced by uav_recovery_init().

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uav_recovery_init()

void uav_recovery_init

(

void

)

Definition at line 94 of file uav_recovery.c.

References airborne_wind_dir, airborne_wind_speed, DefaultPeriodic, deploy_parachute_var, MIN_PPRZ, register_periodic_telemetry(), send_wind_info(), wind_info_valid, and wind_measurements_valid.

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uav_recovery_periodic()

void uav_recovery_periodic

(

void

)

Definition at line 115 of file uav_recovery.c.

References AP_MODE_MANUAL, autopilot, deploy_parachute_var, MAX_PPRZ, MIN_PPRZ, and pprz_autopilot::mode.

Variable Documentation

airborne_wind_dir

float airborne_wind_dir = 0

Definition at line 73 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), send_wind_info(), and uav_recovery_init().

airborne_wind_speed

float airborne_wind_speed = 0

Definition at line 74 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), parachute_compute_approach(), send_wind_info(), and uav_recovery_init().

calculated_wind_dir

float calculated_wind_dir = 0

Definition at line 75 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), and parachute_compute_approach().

deploy_parachute_var

bool deploy_parachute_var = 0

Definition at line 78 of file uav_recovery.c.

Referenced by DeployParachute(), LockParachute(), uav_recovery_init(), and uav_recovery_periodic().

land_direction

bool land_direction = 0

Definition at line 79 of file uav_recovery.c.

parachute_start_qdr

float parachute_start_qdr

Definition at line 71 of file uav_recovery.c.

Referenced by parachute_compute_approach().

parachute_z

float parachute_z

Definition at line 72 of file uav_recovery.c.

Referenced by parachute_compute_approach().

wind_info_valid

bool wind_info_valid = false

Definition at line 77 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), and uav_recovery_init().

wind_measurements_valid

bool wind_measurements_valid = true

Definition at line 76 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), and uav_recovery_init().