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Rotwing takeoff update. #3269

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Rotwing takeoff update. #3269

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f7e18b2
takeoff no attitude msec timer
EwoudSmeur Apr 24, 2024
e39e72a
[fp] added wai takeoff block for rotwing to checkwheteher altitude is…
Dennis-Wijngaarden Apr 29, 2024
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8 changes: 7 additions & 1 deletion conf/flight_plans/tudelft/rotating_wing_EHVB.xml
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Expand Up @@ -69,15 +69,21 @@
</block>
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="nav_set_heading_current()"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
</block>
<block name="Wait takeoff">
<exception cond="stage_time > 10" deroute="Holding point"/>
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you should avoid using >' characters. Use @gtor@DEREF` if needed. See https://wiki.paparazziuav.org/wiki/Flight_Plans#Expressions

<attitude pitch="0" roll="0" throttle="0" until="(fabs(DegOfRad(stateGetNedToBodyEulers_f()->theta)) @LT 3.0) @AND (fabs(DegOfRad(stateGetNedToBodyEulers_f()->phi)) @LT 3.0)" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->

<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<set var="stage_timer_msec" value="get_sys_time_msec()"/>
<attitude pitch="DegOfRad(stateGetNedToBodyEulers_f()->theta)" roll="DegOfRad(stateGetNedToBodyEulers_f()->phi)" throttle="0.75" until="(get_sys_time_msec()-stage_timer_msec)>250" vmode="throttle"/>
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
</block>
<block name="Climb">
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2 changes: 2 additions & 0 deletions sw/airborne/firmwares/rotorcraft/navigation.c
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Expand Up @@ -253,6 +253,8 @@ void nav_init_stage(void)
}
}

uint32_t stage_timer_msec = 0;

Comment on lines +256 to +257
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you can add local variables directly to the flight plan. See: https://github.com/paparazzi/paparazzi/blob/master/conf/flight_plans/ENAC/fish_outdoor.xml#L44

#include <stdio.h>
void nav_periodic_task(void)
{
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2 changes: 2 additions & 0 deletions sw/airborne/firmwares/rotorcraft/navigation.h
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Expand Up @@ -389,4 +389,6 @@ static inline void NavGlide(uint8_t wp_start, uint8_t wp_end)
*/
#define NavFollow(_i, _d, _h) {}

extern uint32_t stage_timer_msec;

#endif /* NAVIGATION_H */