[Paparazzi-devel] ap modes of rotorcraft now displayed in GCS

[Felix Ruess]

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