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Gautier Hattenberger
1d7b6dff57
* [nav] takeoff and land module Functions for takeoff and landing (fixedwing and rotorcraft), can be called from the flight plan or from the mission module. Two flight plan examples are provided. Various options are possible, see module description and header file. * [sim] ins_sim module is only doing INS, not AHRS add AHRS requirement for sim target, if needed provided by ahrs_sim
49 lines
2.6 KiB
XML
49 lines
2.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_takeoff_and_landing" dir="nav" task="control">
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<doc>
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<description>
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Navigation routines for takeoff and landing
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Basic procedures for rotorcraft and fixed-wing:
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- Takeoff rotorcraft: from current location, can move a WP to takeoff point or not
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- Takeoff fixedwing: in direction of a WP, flight plan QFU, or specified location
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- Landing rotorcraft: land at current location, to a specified WP or location, with a glide or not
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- Landing fixedwing: land with a glide between two WPs or from a direction/distance, or land with a circle
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Functions can be called from flight plan or from the mission module if loaded.
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</description>
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<section name="NAV_TAKEOFF" prefix="NAV_TAKEOFF_">
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<define name="CLIMB_SPEED" value="1.0" description="Takeoff climb speed (rotorcraft, default: NAV_CLIMB_VSPEED)"/>
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<define name="PITCH" value="15." unit="deg" description="Takeoff pitch angle (fixedwing)"/>
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<define name="THROTTLE" value="1.0" unit="[0-1]" description="Takeoff throttle (fixedwing, normalized [0-1])"/>
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<define name="HEIGHT" value="2./20." unit="m" description="Takeoff end height (default: rotorcraft=2., fixedwing=20."/>
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<define name="DIST" value="200." unit="m" description="Takeoff end distance (fixedwing)"/>
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<define name="AUTO_LAUNCH" value="FALSE|TRUE" description="Set 'launch' setting automatically (fixedwing, default: TRUE)"/>
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</section>
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<section name="NAV_LANDING" prefix="NAV_LANDING_">
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<define name="DESCEND_SPEED" value="-1." description="Landing descent speed (default: rotorcraft=NAV_DESCEND_VSPEED, fixedwing=-1.0)"/>
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<define name="AF_HEIGHT" value="5./30." description="Landing start of descent height (default: rotorcraft=5., fixedwing=30.)"/>
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<define name="FLARE_HEIGHT" value="2./10." description="Landing flare height (default: rotorcraft=2., fixedwing=10.)"/>
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</section>
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</doc>
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<dep>
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<depends>@navigation</depends>
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<recommends>@mission</recommends>
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</dep>
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<header>
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<file name="nav_takeoff_and_landing.h"/>
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</header>
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<init fun="nav_takeoff_and_landing_init()"/>
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<periodic fun="nav_takeoff_and_landing_periodic()" freq="1."/>
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<makefile firmware="fixedwing">
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<file name="nav_takeoff_and_landing_fw.c"/>
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<test firmware="fixedwing">
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<define name="USE_MISSION"/>
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</test>
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</makefile>
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<makefile firmware="rotorcraft">
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<file name="nav_takeoff_and_landing_rotorcraft.c"/>
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<test firmware="rotorcraft">
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<define name="USE_MISSION"/>
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</test>
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</makefile>
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</module>
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