<!DOCTYPE module SYSTEM "module.dtd">

<module name="nav">
  <doc>
    <description>
      Catapult.
      A catapult launch timing system.
      - Phase 1: Zero Roll, Climb Pitch, Zero Throttle
      - Phase 2: After detecting the Start Acceleration\n
                 Zero Roll, Climb Pitch, Full Throttle
      - Phase 3: After getting the GPS heading (time based)\n
                 Place climb 300m in front of us\n
                 GoTo(climb)\n
    </description>
    <define name="NAV_CATAPULT_ACCELERATION_THRESHOLD" value="1.5" description="acceleration threshold in multiples of g"/>
    <define name="NAV_CATAPULT_MOTOR_DELAY" value="0.75" description="delay until motor is turned on in seconds"/>
    <define name="NAV_CATAPULT_HEADING_DELAY" value="3.0" description="delay until heading is unlocked in seconds"/>
    <define name="NAV_CATAPULT_INITAL_PITCH" value="0.175" description="inital pitch in radians (default 10deg)"/>
    <define name="NAV_CATAPULT_INITIAL_THROTTLE" value="1.0" description="initial throttle (0.0 to 1.0)"/>
  </doc>
  <header>
    <file name="nav_catapult.h"/>
  </header>
  <init fun="nav_catapult_init()"/>
  <!-- Run High Rate Lauch Detector -->
  <periodic fun="nav_catapult_highrate_module()" autorun="TRUE"/>
  <makefile>
    <file name="nav_catapult.c"/>
  </makefile>
</module>

