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Re: [Paparazzi-devel] Paparazzi Failsafe Features?


From: Nathan Aherne
Subject: Re: [Paparazzi-devel] Paparazzi Failsafe Features?
Date: Thu, 30 Sep 2010 07:08:00 +1000 (EST)

Hi Kurtis,

Search for failsafe, posts from me and replies from Felix Russ. The mission boundary part was discusses in depth. The rest is flight plan coding using exceptions. Search the dev list and you will be rewarded.

Sent from my iPhone

On 30/09/2010, at 7:03 AM, Kurtis Kraemer <address@hidden> wrote:

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
 
 
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