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Re: [Paparazzi-devel] Why can't I switch the mode from HOME back to AUTO


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Why can't I switch the mode from HOME back to AUTO2 through my remote control for my lisa?
Date: Mon, 25 Jun 2012 18:47:03 +0200

Hi,

there is no difference between Umarim and Lisa in this high level code.
Did you check if you UNLOCKED_HOME_MODE on lisa as well?

Cheers, Felix

On Thu, Jun 21, 2012 at 4:26 PM, 心如烛光 <address@hidden> wrote:
Hello,everyone.
     I have rewrote some of the code in sw/airborne/firmwares/fixedwing/main_ap.c. So that I can switch the mode to "PPRZ_MODE_HOME" through my remote control directly.And it works very well in my UMARIM1.0.
But it doesn't do the same in my LISA/M. I can switch the mode from AUTO2 to HOME,however I can't switch it back to the AUTO2 through my remote control.
     What causes the different between UMARIM and LISA? 
 And this is my code in the function :pprz_mode_update() of the fixedwing/main_ap.c

static inline uint8_t pprz_mode_update( void ) {

    uint8_t old_status; 

  if ((pprz_mode != PPRZ_MODE_HOME &&

       pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER)

#ifdef UNLOCKED_HOME_MODE

      || TRUE

#endif

      ) {

      old_status=pprz_mode;

     ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE]));

     ModeUpdate(pprz_mode, PPRZ_MODE2_OF_PULSE(fbw_state->channels[RADIO_MODE2],pprz_mode)); //it's the  function which can switch the current mode to HOME or reverse

     if(old_status!=pprz_mode)return TRUE;

     else return FALSE;      

    } else

    return FALSE;


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