uav_recovery.h File Reference

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Macros
#define	MY_PARACHUTE_RADIUS   DEFAULT_CIRCLE_RADIUS
#define	ParachuteComputeApproach(_baseleg, _release, _target)   parachute_compute_approach(_baseleg, _release, _target)

Functions
unit_t	parachute_compute_approach (uint8_t baseleg, uint8_t release, uint8_t wp_target)
void	uav_recovery_init (void)
void	uav_recovery_periodic (void)
uint8_t	DeployParachute (void)
uint8_t	LockParachute (void)
uint8_t	calculate_wind_no_airspeed (uint8_t wp, float radius, float height)

Variables
float	parachute_start_qdr
bool	deploy_parachute_var
float	airborne_wind_dir
float	airborne_wind_speed
bool	wind_measurements_valid
bool	wind_info_valid

Macro Definition Documentation

MY_PARACHUTE_RADIUS

#define MY_PARACHUTE_RADIUS   DEFAULT_CIRCLE_RADIUS

Definition at line 29 of file uav_recovery.h.

ParachuteComputeApproach

#define ParachuteComputeApproach	(		_baseleg,
			_release,
			_target
	)		parachute_compute_approach(_baseleg, _release, _target)

Definition at line 46 of file uav_recovery.h.

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.

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

extern

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

extern

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().

deploy_parachute_var

bool deploy_parachute_var

extern

Definition at line 78 of file uav_recovery.c.

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

parachute_start_qdr

float parachute_start_qdr

extern

Definition at line 71 of file uav_recovery.c.

Referenced by parachute_compute_approach().

wind_info_valid

bool wind_info_valid

extern

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

extern

Definition at line 76 of file uav_recovery.c.

Referenced by calculate_wind_no_airspeed(), and uav_recovery_init().