[Paparazzi-devel] Re: Paparazzi Failsafe Features?

[Kurtis Kraemer]

Thanks for the replies.I had been following the recent discussion on the failsafe "switch", but didn't really understand how it was being used. Nathan, can you elaborate on how you are using this?

 Yes, this is for a competition, but not the Outback Challenge, so the rules are different. What I have listed are the requirements we have been given so far, but common-sense rules will also be applied. I think part of the competition is to figure out these requirements ourselves.

I am using a Xbee Pro 900. I suppose the Telemetry loss is where the "heartbeat" concept comes in? The GCS sends a heartbeat to the autopilot, and if for some reason it doesn't receive it, it activates a failsafe (i.e. changes the flight plan).

I haven't really explored the possibilities in airframe and flight plan editing yet, but I'll see what I can figure out. I'm still new to this programming stuff...

I think a Failsafe section on the wiki would be useful, since safety is of course very important, and an explanation of what failsafe systems are built-in to the code would be useful, as well as a way to configure them.

Thanks again for the help.
-Kurtis

Date: Wed, 29 Sep 2010 15:27:56 -0700
From: Roman Krashanitsa <address@hidden>
Subject: Re: [Paparazzi-devel] Paparazzi Failsafe Features?
To: address@hidden
Message-ID:
       <address@hidden>
Content-Type: text/plain; charset="iso-8859-1"

Hi Kurtis,

Are you participating in a UAV competition? Requirements are still there,
even the wrong ones, like rendering airplane ballistic, which can inflict
much more damage that controlled low-speed descent.

Anyway, as far as I remember,

 1) *Lost communication*: NOT built-in; depends on your modem and
protocol; can be implemented for XBee and Aerocomm that have RSSI and ACK
packets. Can not be implemented with some uni-directional protocols/devices.
 2) *RC uplink failure*:  built-in; configurable through airframe xml file
 3) *Lost GPS*: built-in; configurable through airframe xml file
 4) *Outside mission boundary*: haven't personally used it, but I am pretty
sure it is built in; saw Pascal using polygonal no-fly boundary, so I assume
it is still there.


Best Regards,
Roman Krashanitsa



2010/9/29 Kurtis Kraemer <address@hidden>

> 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
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
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