takeoff_detect.c File Reference

Automatic takeoff assistance for fixed-wing. More...

#include "std.h"
#include "modules/nav/takeoff_detect.h"
#include "autopilot.h"
#include "state.h"
#include "generated/modules.h"

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Data Structures
struct	takeoff_detect_struct
	Takeoff detection structure. More...

Macros
#define	TAKEOFF_DETECT_LAUNCH_PITCH   RadOfDeg(30.)
	Default pitch angle to trigger launch. More...
#define	TAKEOFF_DETECT_ABORT_PITCH   RadOfDeg(-20.)
	Default pitch angle to cancel launch. More...
#define	TAKEOFF_DETECT_TIMER   2.
	Detection timer in seconds. More...
#define	TAKEOFF_DETECT_DISABLE_TIMER   4.
	Disable timer in seconds. More...

Enumerations
enum	takeoff_detect_state { TO_DETECT_DISABLED, TO_DETECT_ARMED, TO_DETECT_LAUNCHING }
	Takeoff detection states. More...

Functions
void	takeoff_detect_init (void)
	Init function. More...
void	takeoff_detect_start (void)
	Start function called once before periodic. More...
void	takeoff_detect_periodic (void)
	Periodic call. More...

Variables
static struct takeoff_detect_struct	takeoff_detect

Detailed Description

Automatic takeoff assistance for fixed-wing.

The planes's launching can be triggered/aborted by pointing the nose up or down for a given time.

Definition in file takeoff_detect.c.

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Data Structure Documentation

struct takeoff_detect_struct

Takeoff detection structure.

Definition at line 64 of file takeoff_detect.c.

Data Fields
enum takeoff_detect_state	state
uint32_t	timer

Macro Definition Documentation

#define TAKEOFF_DETECT_ABORT_PITCH   RadOfDeg(-20.)

Default pitch angle to cancel launch.

Definition at line 43 of file takeoff_detect.c.

Referenced by takeoff_detect_periodic().

#define TAKEOFF_DETECT_DISABLE_TIMER   4.

Disable timer in seconds.

Definition at line 53 of file takeoff_detect.c.

Referenced by takeoff_detect_periodic().

#define TAKEOFF_DETECT_LAUNCH_PITCH   RadOfDeg(30.)

Default pitch angle to trigger launch.

Definition at line 38 of file takeoff_detect.c.

Referenced by takeoff_detect_periodic().

#define TAKEOFF_DETECT_TIMER   2.

Detection timer in seconds.

Definition at line 48 of file takeoff_detect.c.

Referenced by takeoff_detect_periodic().

Enumeration Type Documentation

enum takeoff_detect_state

Takeoff detection states.

Enumerator
TO_DETECT_DISABLED
TO_DETECT_ARMED
TO_DETECT_LAUNCHING

Definition at line 57 of file takeoff_detect.c.

Function Documentation

void takeoff_detect_init

(

void

)

Init function.

Definition at line 72 of file takeoff_detect.c.

void takeoff_detect_periodic

(

void

)

Periodic call.

• can be enabled or disabled from settings
• enabled by default, disable himself after launch

Definition at line 85 of file takeoff_detect.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, autopilot, autopilot_get_mode(), pprz_autopilot::launch, takeoff_detect_struct::state, stateGetNedToBodyEulers_f(), takeoff_detect, TAKEOFF_DETECT_ABORT_PITCH, TAKEOFF_DETECT_DISABLE_TIMER, TAKEOFF_DETECT_LAUNCH_PITCH, TAKEOFF_DETECT_TIMER, takeoff_detect_struct::timer, TO_DETECT_ARMED, TO_DETECT_DISABLED, and TO_DETECT_LAUNCHING.

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void takeoff_detect_start

(

void

)

Start function called once before periodic.

Definition at line 78 of file takeoff_detect.c.

References takeoff_detect_struct::state, takeoff_detect, takeoff_detect_struct::timer, and TO_DETECT_ARMED.

Variable Documentation

struct takeoff_detect_struct takeoff_detect

static

Definition at line 69 of file takeoff_detect.c.

Referenced by takeoff_detect_periodic(), and takeoff_detect_start().