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