Fixed-wing automatic launch detection

Module XML file: takeoff_detect.xml

When loaded, the pitch angle of plane is monitored, and will trigger the launch variable if the angle goes over a specified value (nose up) for 2 seconds. The launch variable can be reset to FALSE by pointing the nose to the ground. The module disables itself within a few seconds (4s) after detecting the launch. It can be re-actiaved by hand from the GCS.

Example for airframe file

<modules>
  <load name="takeoff_detect.xml"/>
</modules>

Module configuration options

Airframe file section

• section name: TO_DETECT
  • name TAKEOFF_DETECT_LAUNCH_PITCH value: 30.
    Description: Picth angle for takeoff detection (set 'launch' to TRUE)
  • name TAKEOFF_DETECT_ABORT_PITCH value: -20.
    Description: Pitch angle to abort takeoff (set 'launch' to FALSE)
  • name TAKEOFF_DETECT_TIMER value: 2.
    Description: Timer for takeoff detection in seconds (default 2s above pitch angle threshold)
  • name TAKEOFF_DETECT_DISABLE_TIMER value: 4.
    Description: Timer for module de-activation (default 4s after the launch detection)

Module functions

Init Functions

These initialization functions are called once on startup.

• takeoff_detect_init()

Periodic Functions

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

• takeoff_detect_periodic()
  • Frequency in Hz: 20
  • Autorun: TRUE
    Periodic function automatically starts after init.
  • Start function: takeoff_detect_start()
    Executed before the periodic function starts.

Files

Header Files

The following headers are automatically included in modules.h

• takeoff_detect.h

Source Files

• modules/nav/takeoff_detect.c

Raw takeoff_detect.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="takeoff_detect" dir="nav">
  <doc>
    <description>
      Fixed-wing automatic launch detection

      When loaded, the pitch angle of plane is monitored, and will trigger the launch variable
      if the angle goes over a specified value (nose up) for 2 seconds.
      The launch variable can be reset to FALSE by pointing the nose to the ground.
      The module disables itself within a few seconds (4s)  after detecting the launch.
      It can be re-actiaved by hand from the GCS.
    </description>
    <section name="TO_DETECT">
      <define name="TAKEOFF_DETECT_LAUNCH_PITCH" value="30." unit="deg" description="Picth angle for takeoff detection (set 'launch' to TRUE)"/>
      <define name="TAKEOFF_DETECT_ABORT_PITCH" value="-20." unit="deg" description="Pitch angle to abort takeoff (set 'launch' to FALSE)"/>
      <define name="TAKEOFF_DETECT_TIMER" value="2." description="Timer for takeoff detection in seconds (default 2s above pitch angle threshold)"/>
      <define name="TAKEOFF_DETECT_DISABLE_TIMER" value="4." description="Timer for module de-activation (default 4s after the launch detection)"/>
    </section>
  </doc>
  <header>
    <file name="takeoff_detect.h"/>
  </header>
  <init fun="takeoff_detect_init()"/>
  <periodic fun="takeoff_detect_periodic()" freq="20" autorun="TRUE" start="takeoff_detect_start()"/>
  <makefile>
    <file name="takeoff_detect.c"/>
  </makefile>
</module>