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Re: [Paparazzi-devel] AP_MODE_FAILSAFE


From: Felix Ruess
Subject: Re: [Paparazzi-devel] AP_MODE_FAILSAFE
Date: Wed, 2 Nov 2011 16:36:47 +0100

Hi Eric,

> I woulds like to use  "AP_MODE_FAILSAFE ".
>
> Currently I use :
>
> <section name="MODE">
>  <define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
>  <define name="AUTO1" value="AP_MODE_HOVER_DIRECT" />
>  <define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
> </section>

See http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Autopilot_modes
for the different modes and let us know if this description is
unclear.

> I would like to have "AP_MODE_FAILSAFE" active in HOVERs mode,   is it
> possible?

By definition, if you have "AP_MODE_FAILSAFE" active, you are not in
HOVER mode anymore, you are in the FAILSAFE mode.

> I probably lost the GPS some time in HOVER.... and the quad go away...where
> it can....  If is stay and land it could be nice for debuging.
>
>
> Where, how to... I will proced to use "AP_MODE_FAILSAFE"....

So you basically want to trigger the FAILSAFE mode if you are in one
of the AP_MODE_HOVER_* modes and loose the gps but still have an RC
signal?

I'm not sure this is a good idea, as in failsafe mode you don't have
manual control over the multicopter anymore (by definition).

But maybe we would want to change into a similar mode if you loose GPS
while in hover mode? E.g. switch to AP_MODE_ATTITUDE_CLIMB with zero
attitude setpoint and 0.5 m/s downward speed (just like in the
failsafe case).
When and how do you decide to go out of this mode again to take
control again? When you switch with the RC to manual (which in your
case is mapped to AP_MODE_ATTITUDE_DIRECT)?

Maybe we need to revise the modes concept for rotorcrafts or at least
add some extra transitions, but first it should be clear what we
really need/want.

Cheers, Felix



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