[Paparazzi-devel] ap modes of rotorcraft now displayed in GCS
From:
Felix Ruess
Subject:
[Paparazzi-devel] ap modes of rotorcraft now displayed in GCS
Date:
Thu, 27 Jan 2011 20:34:27 +0100
Hi all,
Gautier just updated the autopilot mode display in the GCS for rotorcrafts. Now a short abbreviation of the correct mode is displayed instead of only the Manual, Auto1, Auto2 we know from fixedwings (and correspond to the 3way switch position on the RC).
The modes we have for rotorcrafts are:
Displayed as -> full mode name
SAFE -> FAILSAFE This is a failsafe mode that gets triggered if: * RC signal is lost (and you are not in KILL or NAV mode)
* GPS and RC is lost in NAV mode The autopilot will level the rotorcraft out (setpoints to zero pitch and roll angles) and descend at 0.5m/s downwards.
KILL -> KILL Motors are simply switched off.
RATE -> RATE_DIRECT This is basically the "most" manual mode you can get. You control not the attitude (roll and pitch angles) but the rotation rate. You also set the throttle directly with your RC.
ATT ->ATTITUDE_DIRECT You control the attitude (roll, pitch and yaw angles), but the throttle directly proportional to your stick position.
R_RCC -> RATE_RC_CLIMB You control the rotation rate and the vertical speed according to your
throttle stick position. If you have your throttle stick in the middle
position, the altitude is keept, down goes down at a speed proportional
to your stick position (same for up). In this mode it makes sense to
mount the spring for your throttle stick so it recenter itself.
A_RCC ->ATTITUDE_RC_CLIMB You control the attitude (roll, pitch and yaw angles) and the vertical
speed according to your throttle stick position. If you have your
throttle stick in the middle position, the altitude is keept, down goes
down at a speed proportional to your stick position (same for up). In
this mode it makes sense to mount the spring for your throttle stick so
it recenter itself.
ATT_C -> ATTITUDE_CLIMB You control the attitude (roll, pitch and yaw angles) and the vertical speed. The vertical speed is set via fms (e.g. joystick).
R_ZH -> RATE_Z_HOLD
You control the rotation rate and it holds the altitude you were at when
entering this mode. Your throttle stick position still limits the max
throttle authority, so you should push your throttle stick up after
entering this mode so the vertical controller has some "room" to
stabilize the altitude. Should something weird happen you can limit the
max thrust by taking throttle back.
A_ZH -> ATTITUDE_Z_HOLD 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, so you should push
your throttle stick up after entering this mode so the vertical
controller has some "room" to stabilize the altitude. Should something
weird happen you can limit the max thrust by taking throttle back.
HOVER -> HOVER_DIRECT The rotorcraft hovers at the horizontal position you were at when
entering this mode (position control). You still set the throttle
directly with your RC.
HOV_C -> HOVER_CLIMB The rotorcraft hovers at the position you were at when entering this
mode (position control). The vertical speed is set via fms (e.g.
joystick).
H_ZH -> HOVER_Z_HOLD The rotorcraft hovers at the 3D position you were at when entering this
mode (position and altitude control). Your throttle stick position still
limits the max throttle authority, so you should push your throttle
stick up after entering this mode so the vertical controller has some
"room" to stabilize the altitude. Should something weird happen you can
limit the max thrust by taking throttle back.
NAV -> NAV Full navigation mode. The rotorcraft follows your flightplan.
Cheers, your friendly neighborhood Paparazzi team
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