nav_catapult.c File Reference

#include "modules/nav/nav_catapult.h"
#include "state.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/nav.h"
#include "autopilot.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5
#define	NAV_CATAPULT_ACCELERATION_DETECTION   5
#define	NAV_CATAPULT_MOTOR_DELAY   0.75
#define	NAV_CATAPULT_HEADING_DELAY   3.0
#define	NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)
#define	NAV_CATAPULT_INITIAL_THROTTLE   1.0
#define	NAV_CATAPULT_CLIMB_DISTANCE   300.
#define	NAV_CATAPULT_TIMEOUT   30.

Functions
void	nav_catapult_init (void)
void	nav_catapult_highrate_module (void)
bool	nav_catapult_run (uint8_t _climb)

Variables
struct nav_catapult_struct	nav_catapult

Macro Definition Documentation

NAV_CATAPULT_ACCELERATION_DETECTION

#define NAV_CATAPULT_ACCELERATION_DETECTION   5

Definition at line 56 of file nav_catapult.c.

NAV_CATAPULT_ACCELERATION_THRESHOLD

#define NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5

Definition at line 52 of file nav_catapult.c.

NAV_CATAPULT_CLIMB_DISTANCE

#define NAV_CATAPULT_CLIMB_DISTANCE   300.

Definition at line 76 of file nav_catapult.c.

NAV_CATAPULT_HEADING_DELAY

#define NAV_CATAPULT_HEADING_DELAY   3.0

Definition at line 64 of file nav_catapult.c.

NAV_CATAPULT_INITIAL_PITCH

#define NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)

Definition at line 68 of file nav_catapult.c.

NAV_CATAPULT_INITIAL_THROTTLE

#define NAV_CATAPULT_INITIAL_THROTTLE   1.0

Definition at line 72 of file nav_catapult.c.

NAV_CATAPULT_MOTOR_DELAY

#define NAV_CATAPULT_MOTOR_DELAY   0.75

Definition at line 60 of file nav_catapult.c.

NAV_CATAPULT_TIMEOUT

#define NAV_CATAPULT_TIMEOUT   30.

Definition at line 80 of file nav_catapult.c.

Function Documentation

nav_catapult_highrate_module()

void nav_catapult_highrate_module

(

void

)

Definition at line 102 of file nav_catapult.c.

References nav_catapult_struct::accel_threshold, autopilot, float_rmat_transp_vmult(), nav_catapult_struct::initial_throttle, pprz_autopilot::launch, MAX_PPRZ, nav_catapult_struct::motor_delay, nav_catapult, NAV_CATAPULT_ACCELERATION_DETECTION, NAV_CATAPULT_ARMED, NAV_CATAPULT_MOTOR_ON, NAV_CATAPULT_TIMEOUT, NAV_CATAPULT_UNINIT, NAV_CATAPULT_WAIT_ACCEL, NavVerticalThrottleMode, stateGetAccelNed_f(), stateGetNedToBodyRMat_f(), nav_catapult_struct::status, nav_catapult_struct::timer, and FloatVect3::x.

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nav_catapult_init()

void nav_catapult_init

(

void

)

Definition at line 86 of file nav_catapult.c.

References nav_catapult_struct::accel_threshold, nav_catapult_struct::heading_delay, nav_catapult_struct::initial_pitch, nav_catapult_struct::initial_throttle, nav_catapult_struct::motor_delay, nav_catapult, NAV_CATAPULT_ACCELERATION_THRESHOLD, NAV_CATAPULT_HEADING_DELAY, NAV_CATAPULT_INITIAL_PITCH, NAV_CATAPULT_INITIAL_THROTTLE, NAV_CATAPULT_MOTOR_DELAY, NAV_CATAPULT_UNINIT, nav_catapult_struct::status, and nav_catapult_struct::timer.

nav_catapult_run()

bool nav_catapult_run

(

uint8_t

_climb

)

Definition at line 159 of file nav_catapult.c.

References UtmCoor_f::alt, DownlinkSendWpNr(), f, nav_catapult_struct::heading_delay, nav_catapult_struct::initial_pitch, nav_catapult_struct::initial_throttle, MAX_PPRZ, nav_approaching_xy(), nav_catapult, NAV_CATAPULT_ARMED, NAV_CATAPULT_CLIMB_DISTANCE, NAV_CATAPULT_DISARM, NAV_CATAPULT_MOTOR_CLIMB, NAV_CATAPULT_MOTOR_ON, NAV_CATAPULT_UNINIT, NAV_CATAPULT_WAIT_ACCEL, NavAttitude, NavGotoWaypoint, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavVerticalThrottleMode, nav_catapult_struct::pos, stateGetPositionEnu_f(), stateGetPositionUtm_f(), nav_catapult_struct::status, nav_catapult_struct::timer, WaypointAlt, WaypointX, WaypointY, FloatVect3::x, EnuCoor_f::x, FloatVect3::y, EnuCoor_f::y, and FloatVect3::z.

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Variable Documentation

nav_catapult

struct nav_catapult_struct nav_catapult

Definition at line 83 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), nav_catapult_init(), and nav_catapult_run().