nav_catapult.h File Reference

catapult launch timing system More...

#include "std.h"
#include "paparazzi.h"

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

Variables
float	nav_catapult_motor_delay
float	nav_catapult_acceleration_threshold
float	nav_catapult_heading_delay
float	nav_catapult_initial_pitch
float	nav_catapult_initial_throttle

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 300m in front of us
  GoTo(climb)

Definition in file nav_catapult.h.

Function Documentation

bool_t nav_catapult_arm

(

void

)

bool_t nav_catapult_disarm

(

void

)

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

Definition at line 61 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module().

float 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

Definition at line 79 of file nav_catapult.c.

Referenced by nav_catapult_run().

float nav_catapult_initial_throttle

Definition at line 85 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().

float nav_catapult_motor_delay

Definition at line 67 of file nav_catapult.c.

Referenced by nav_catapult_highrate_module(), and nav_catapult_run().