nav_catapult.h File Reference

catapult launch timing system More...

#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	nav_catapult_struct

Enumerations
enum	nav_catapult_state {   NAV_CATAPULT_UNINIT, NAV_CATAPULT_ARMED, NAV_CATAPULT_WAIT_ACCEL, NAV_CATAPULT_MOTOR_ON,   NAV_CATAPULT_MOTOR_CLIMB, NAV_CATAPULT_DISARM }

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

Detailed Description

catapult launch timing system

• Phase 1: Zero Roll, Climb Pitch, Zero Throttle
• Phase 2: After detecting the Start Acceleration
  Zero Roll, Climb Pitch, Full Throttle
• Phase 3: After getting the GPS heading (time based)
  Place climb in front of us
  GoTo(climb)

Definition in file nav_catapult.h.

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Data Structure Documentation

nav_catapult_struct

struct nav_catapult_struct

Definition at line 53 of file nav_catapult.h.

Collaboration diagram for nav_catapult_struct:

Data Fields
float	accel_threshold	acceleration threshold for launch detection (in g)
float	heading_delay	delay to estimate initial heading after launch (in seconds)
float	initial_pitch	pitch angle during first take-off phase (in radian)
float	initial_throttle	throttle during first take-off phase (in radian)
float	motor_delay	delay to start motor after launch detection (in seconds)
struct FloatVect3	pos	catapult position
enum nav_catapult_state	status	current procedure state
uint32_t	timer	internal timer

Enumeration Type Documentation

nav_catapult_state

enum nav_catapult_state

Enumerator
NAV_CATAPULT_UNINIT
NAV_CATAPULT_ARMED
NAV_CATAPULT_WAIT_ACCEL
NAV_CATAPULT_MOTOR_ON
NAV_CATAPULT_MOTOR_CLIMB
NAV_CATAPULT_DISARM

Definition at line 43 of file nav_catapult.h.

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().