Re: [Paparazzi-devel] Using Paparazzi board as failsafe

[Nathan Aherne]

These are the relevant part of my flight plan in regards to the failsafe 
action. The rest is just some of the competition waypoints.

You will see I have implemented the Holdingpoint block so that the Kill block 
is not run. I would like to understand if there is an easier way to implement 
this crash failsafe than this, and output to a servo 1000ms or 2000ms. Thanks 
for your help in advance!

    <sector color="red" name="MissionBoundary">
      <corner name="MB1"/>
      <corner name="MB2"/>
      <corner name="MB3"/>
      <corner name="MB4"/>
      <corner name="MB5"/>
      <corner name="MB6"/>
      <corner name="MB7"/>
      <corner name="MB8"/>
      <corner name="MB9"/>
      <corner name="MB10"/>
      <corner name="MB11"/>
    </sector>
  </sectors>
  <exceptions>
      <exception cond="! InsideMissionBoundary(estimator_x, estimator_y)" 
deroute="Kill"/>
  </exceptions>
  <blocks>
<!-- FLIGHT PLAN -->
    <block name="Wait GPS">
      <set value="1" var="kill_throttle"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call fun="NavSetGroundReferenceHere()"/>
      <set value="0" var="estimator_flight_time"/>
    </block>
    <block name="Holding point">
      <call fun="NavSetWaypointHere(WP_STPT)"/>
      <set value="1" var="kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
      <go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
    </block>

Kindest regards,
 
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080

On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:

> We would like to use the Paparazzi as a failsafe in this years outback 
> challenge, plus use its other features to control and report back certain 
> tests and conditions. We are using the paparazzi for this because it supplies 
> so much more data than our commercial autopilot.
> 
> The failsafe part just needs to output 2000ms or 1000ms on a servo output if 
> the aircraft goes over the mission boundary. I have already built some code, 
> but it seems there must be a simpler way to get the autpilot to do this, 
> could someone help me out with this one please? Some sample code would be 
> great and possibily an explanation of what I need to initialise.
> 
> I am only wanting to run the GPS, Xbee and TWOG if possible.
> 
> Thanks in advance!
> 
> Kindest regards,
> 
> Nathan Aherne
> Email: address@hidden
> Mob: 0402 555 080
> 
> 
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