nav_catapult.c File Reference

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

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Macros
#define	NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5
#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

Functions
void	nav_catapult_highrate_module (void)
bool_t	nav_catapult_setup (void)
bool_t	nav_catapult_run (uint8_t _to, uint8_t _climb)
bool_t	nav_select_touch_down (uint8_t _td)

Variables
static bool_t	nav_catapult_armed = FALSE
static uint16_t	nav_catapult_launch = 0
float	nav_catapult_acceleration_threshold = NAV_CATAPULT_ACCELERATION_THRESHOLD
float	nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY
float	nav_catapult_heading_delay = NAV_CATAPULT_HEADING_DELAY
float	nav_catapult_initial_pitch = NAV_CATAPULT_INITIAL_PITCH
float	nav_catapult_initial_throttle = NAV_CATAPULT_INITIAL_THROTTLE
static float	nav_catapult_x = 0
static float	nav_catapult_y = 0

Macro Definition Documentation

#define NAV_CATAPULT_ACCELERATION_THRESHOLD   1.5

Definition at line 58 of file nav_catapult.c.

#define NAV_CATAPULT_HEADING_DELAY   3.0

Definition at line 70 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_PITCH   RadOfDeg(10)

Definition at line 76 of file nav_catapult.c.

#define NAV_CATAPULT_INITIAL_THROTTLE   1.0

Definition at line 82 of file nav_catapult.c.

#define NAV_CATAPULT_MOTOR_DELAY   0.75

Definition at line 64 of file nav_catapult.c.

Function Documentation

void nav_catapult_highrate_module

(

void

)

Definition at line 95 of file nav_catapult.c.

References Imu::accel, ACCEL_FLOAT_OF_BFP, Imu::body_to_imu, imu, int32_rmat_transp_vmult(), launch, nav_catapult_acceleration_threshold, nav_catapult_armed, nav_catapult_heading_delay, nav_catapult_initial_throttle, nav_catapult_launch, nav_catapult_motor_delay, NavVerticalThrottleMode, orientationGetRMat_i(), and Int32Vect3::x.

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bool_t nav_catapult_run	(	uint8_t	_to,
		uint8_t	_climb
	)

Definition at line 145 of file nav_catapult.c.

References UtmCoor_f::alt, DefaultChannel, DefaultDevice, nav_catapult_armed, nav_catapult_heading_delay, nav_catapult_initial_pitch, nav_catapult_initial_throttle, nav_catapult_launch, nav_catapult_motor_delay, nav_catapult_x, nav_catapult_y, NavAttitude, NavGotoWaypoint, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavVerticalThrottleMode, stateGetPositionEnu_f(), stateGetPositionUtm_f(), TRUE, WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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bool_t nav_catapult_setup

(

void

)

Definition at line 134 of file nav_catapult.c.

References FALSE, nav_catapult_armed, nav_catapult_launch, and TRUE.

bool_t nav_select_touch_down

(

uint8_t

_td

)

Definition at line 198 of file nav_catapult.c.

References UtmCoor_f::alt, FALSE, stateGetPositionEnu_f(), stateGetPositionUtm_f(), WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

float nav_catapult_acceleration_threshold = NAV_CATAPULT_ACCELERATION_THRESHOLD

Definition at line 61 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module().

bool_t nav_catapult_armed = FALSE

static

Definition at line 54 of file nav_catapult.c.

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

float nav_catapult_heading_delay = NAV_CATAPULT_HEADING_DELAY

Definition at line 73 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

float nav_catapult_initial_pitch = NAV_CATAPULT_INITIAL_PITCH

Definition at line 79 of file nav_catapult.c.

Referenced by nav_catapult_run().

float nav_catapult_initial_throttle = NAV_CATAPULT_INITIAL_THROTTLE

Definition at line 85 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

uint16_t nav_catapult_launch = 0

static

Definition at line 55 of file nav_catapult.c.

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

float nav_catapult_motor_delay = NAV_CATAPULT_MOTOR_DELAY

Definition at line 67 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

float nav_catapult_x = 0

static

Definition at line 89 of file nav_catapult.c.

Referenced by nav_catapult_run().

float nav_catapult_y = 0

static

Definition at line 90 of file nav_catapult.c.

Referenced by nav_catapult_run().