nav_catapult.h

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/*
 * Copyright (C) 2012, Christophe De Wagter
 * Copyright (C) 2016, Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * 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/>.
 *
 */
 
#ifndef NAV_CATAPULT_H
#define NAV_CATAPULT_H
 
#include "std.h"
#include "math/pprz_algebra_float.h"
 
// Take off state machine
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,
};
 
// Internal structure
struct nav_catapult_struct {
  enum nav_catapult_state status; 
  uint32_t timer;                 
  struct FloatVect3 pos;          
  float accel_threshold;          
  float motor_delay;              
  float heading_delay;            
  float initial_pitch;            
  float initial_throttle;         
};
 
extern struct nav_catapult_struct nav_catapult;
 
// Init
extern void nav_catapult_init(void);
 
// Module Code
extern void nav_catapult_highrate_module(void);
 
// Flightplan Code
extern bool nav_catapult_run(uint8_t _climb);
 
#endif