[Paparazzi-devel] Paparazzi Failsafe Features?

[Kurtis Kraemer]

Hi everyone,

 

I'm looking for some information into the built-in failsafe features in Paparazzi, specifically Tiny/Twog. Is there a place where this is documented?

 

These are the requirements that I need to meet:

 

 1) Lost communication: If communication is lost with UAV, it should return home after 10 seconds.

- Is this already built-in? If not, where/how might I add this in the code?

 

2) RC uplink failure: In case of RC uplink failure, the team captain should notify the Air Program Director.

- I believe this is taken care of by the PPM Encoder, which switches to Auto2. Will the flight plan simply continue, or can I set it to circle or return home? I would also like an audible alert from the GCS.

 

3) Lost GPS: If GPS is lost, manual control of the UAV should be retaken. Otherwise, engine should be killed after a 20 seconds timeout.

- Is this built-in? If not, how can I add it?

 

4) Outside mission boundary: In case the UAV gets outside the mission boundaries, the Air Program Director should be immediately informed. The Air Program Director may ask to terminate flight immediately.

- I believe this is set in the Flight Plan? i.e. a polygon is created and the UAV is not permitted to fly outside this boundary.

 

I appreciate any help. I'm slowly getting familiar with the code, but I'm not quite sure how everything works yet. Failsafes are a pretty important thing to get right, so I want to be sure.

 

Thanks!

 

Kurtis