Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
Paparazzi is a free software Unmanned Aircraft System.
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uav_recovery module


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Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="uav_recovery">
2  <define name="USE_PARACHUTE" value="true OR false" />
3  <define name="PARACHUTE_SERVO_CHANNEL" value="The paraccute servo name" />
4  <define name="PARACHUTE_DESCENT_RATE" value="3.0" />
5  <define name="PARACHUTE_WIND_CORRECTION" value="1.0" />
6  <define name="PARACHUTE_LINE_LENGTH" value="3.0" />
7  <define name="FIXED_WIND_DIRECTION_FOR_TESTING" value="90." />
8  <define name="FIXED_WIND_SPEED_FOR_TESTING" value="10." />
9  <define name="AIRBORNE_WIND_CORRECTION" value="1.0" />
10 </module>

Module configuration options

Define Options

  • name: USE_PARACHUTE value: true OR false
    Description: whether to use parachute recovery or not
  • name: PARACHUTE_SERVO_CHANNEL value: The paraccute servo name
    Description: which servo to use, -1 if none
  • name: PARACHUTE_DESCENT_RATE value: 3.0
    Description: calculated descent rate in meters/second
  • name: PARACHUTE_WIND_CORRECTION value: 1.0
    Description: to estimate the landing spot better
  • name: PARACHUTE_LINE_LENGTH value: 3.0
    Description: the parachute to plane distance in meters.
    Description: fixed wind direction for the simulator ONLY!
  • name: FIXED_WIND_SPEED_FOR_TESTING value: 10.
    Description: fixed wind speed for the simulator ONLY!
  • name: AIRBORNE_WIND_CORRECTION value: 1.0
    Description: Airframe dependant wind calculation correction factor.

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

  • uav_recovery_periodic()
    • Frequency in Hz: 10
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw uav_recovery.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="uav_recovery" dir="uav_recovery">
<define name="USE_PARACHUTE" value="true OR false" description="whether to use parachute recovery or not"/>
<define name="PARACHUTE_SERVO_CHANNEL" value="The paraccute servo name" description="which servo to use, -1 if none" />
<define name="PARACHUTE_DESCENT_RATE" value="3.0" description="calculated descent rate in meters/second"/>
<define name="PARACHUTE_WIND_CORRECTION" value="1.0" description="to estimate the landing spot better"/>
<define name="PARACHUTE_LINE_LENGTH" value="3.0" description="the parachute to plane distance in meters."/>
<define name="FIXED_WIND_DIRECTION_FOR_TESTING" value="90." description="fixed wind direction for the simulator ONLY!"/>
<define name="FIXED_WIND_SPEED_FOR_TESTING" value="10." description="fixed wind speed for the simulator ONLY!"/>
<define name="AIRBORNE_WIND_CORRECTION" value="1.0" description="Airframe dependant wind calculation correction factor." />
<dl_settings NAME="Parachute">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="deploy_parachute_var" shortname="deploy parachute">
<!-- <strip_button name="parachute" icon="on.png" value="1" group="parachute" /> -->
<file name="uav_recovery.h"/>
<init fun="uav_recovery_init()"/>
<periodic fun="uav_recovery_periodic()" freq="10"/>
<file name="uav_recovery.c"/>