mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Felix Ruess
29 lines
2.3 KiB
XML
29 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_bungee_takeoff" dir="nav">
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<doc>
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<description>
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Takeoff functions for bungee takeoff.
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Run initialize function when the plane is on the bungee, the bungee is fully extended and you are ready to launch the plane.
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After initialized, the plane will follow a line drawn by the position of the plane on initialization and the position of the bungee (given in the arguments).
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Once the plane crosses the throttle line, which is perpendicular to the line the plane is following, and intersects the position of the bungee (plus or minus a fixed distance (BUNGEE_TAKEOFF_DISTANCE in airframe file) from the bungee just in case the bungee doesn't release exactly above the bungee) the prop will come on.
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The plane will then continue to follow the line until it has reached a specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above the bungee waypoint and airspeed (defined as BUNGEE_TAKEOFF_AIRSPEED in the airframe file). The airspeed limit is only used if USE_AIRSPEED flag is defined or set to true (and assuming the airspeed is then available). It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).
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</description>
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<section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
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<define name="HEIGHT" value="distance" unit="m" description="Takeoff height"/>
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<define name="AIRSPEED" value="airspeed" unit="m/s" description="Procedures ends above this airspeed (and above HEIGHT). Only works with valid airspeed data and USE_AIRSPEED flag"/>
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<define name="DISTANCE" value="distance" unit="m" description="After this distance, the throttle is activated (if above MIN_SPEED)"/>
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<define name="MIN_SPEED" value="speed" unit="m/s" description="Throttle is activated if crossing the line above this speed"/>
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<define name="PITCH" value="angle" unit="deg" description="Pitch angle during the complete takeoff phase"/>
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<define name="THROTTLE" value="throttle" unit="normalized" description="Throttle setpoint (between 0 and 1) used after crossing the throttle line"/>
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</section>
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</doc>
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<header>
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<file name="nav_bungee_takeoff.h"/>
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</header>
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<makefile target="ap|sim|nps">
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<file name="nav_bungee_takeoff.c"/>
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</makefile>
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</module>
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