nav_heli_spinup.c

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/*
 * Copyright (C) Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#include "modules/nav/nav_heli_spinup.h"
#include "navigation.h"
#include "paparazzi.h"

static struct nav_heli_spinup_t nav_heli_spinup;

void nav_heli_spinup_setup(uint16_t duration, float throttle)
{
  nav_heli_spinup.duration = (duration > 0) ? duration : 1;
  nav_heli_spinup.throttle = throttle * MAX_PPRZ;

  nav_throttle = 0;
  nav_cmd_roll = 0;
  nav_cmd_pitch = 0;
  nav_cmd_yaw = 0;
  horizontal_mode = HORIZONTAL_MODE_ATTITUDE;
  vertical_mode = VERTICAL_MODE_MANUAL;
}

bool nav_heli_spinup_run(void)
{
  if (stage_time > nav_heli_spinup.duration) {
    return false;
  }

  nav_cmd_roll = 0;
  nav_cmd_pitch = 0;
  nav_cmd_yaw = 0;
  horizontal_mode = HORIZONTAL_MODE_MANUAL;
  vertical_mode = VERTICAL_MODE_MANUAL;
  nav_throttle = stage_time * nav_heli_spinup.throttle / nav_heli_spinup.duration;
  return true;
}