Re: [Paparazzi-devel] Mode switch selection?

[Sergey Krukowski]

The AUTO1 modes are different:

AP_MODE_ATTITUDE_Z_HOLD (A_ZH)
You control the attitude (roll, pitch and yaw angles) and it holds the  
altitude you were at when entering this mode.
Your throttle stick position still limits the max throttle authority  
unless disabled with NO_RC_THRUST_LIMIT.

AP_MODE_HOVER_Z_HOLD (H_ZH)
The rotorcraft hovers at the 3D position you were at when entering this  
mode (position and altitude control). RC commands work the same as in  
HOVER mode.
Your throttle stick position still limits the max throttle authority  
unless disabled with NO_RC_THRUST_LIMIT.

The whole list of modes here:
http://wiki.paparazziuav.org/wiki/Rotorcraft_Configuration#Autopilot_modes

> The webpages say to use:
>
>   <section name="MODE" prefix="MODE_">
>     <define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
>     <define name="AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" />
>     <define name="AUTO2" value="AP_MODE_NAV" />
>   </section>
>
> Example XML files have:
>
>   <section name="AUTOPILOT">
>     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
>     <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
>     <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
>   </section>
>
> Are these actually effectively the same thing?
>
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