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Re: [Paparazzi-devel] Disable HOME mode

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Disable HOME mode
Date: Mon, 14 Feb 2011 09:55:52 +0100
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20101208 Thunderbird/3.1.7


Just a few words on the RC OFF "feature" on rotorcraft. It is a hack I add for a competition and it was a really stupid idea. We almost crashed in the public because of that. I should have removed this earlier. If we want a safety mechanism, we should think of something more robust, but that keep the safety pilot in the loop. Maybe by using the dist_to_home information ?


On 13/02/2011 21:58, Reto Büttner wrote:
Hi Felix,

thanks for your hints. I will try the following two lines in my airframe file:

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>

These lines have been used by OSAM in their airframe file osam_xsens_twog.xml.

I simply turned off my RC transmitter. The ability to turn off the RC
on the autopilot side sounds better. Can this be done easily on fixed
wing? But using the two lines above I might not even need it anymore.

I will fly some tests in this configuration before changing main_ap.c.

Cheers, Reto

2011/2/12 Felix Ruess<address@hidden>:
Hi Reto,

that sounds a bit strange, are you really sure you were not too far away
(got a GPS measurement that put the plane to far away).

to avoid being locked in HOME mode you can add
    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
to your airframe file. But this does not disable HOME mode, just lets you
change the mode via RC so you don't have to leave HOME mode using the GCS.
But you should use this option with caution.

You can also define RC_LOST_MODE (default is PPRZ_MODE_HOME) if you really
want to.

Apart from setting MAX_DIST_FROM_HOME to a high value, you currently can not
completely disable home mode afaik.
But the only two reasons for home mode are too_far_from_home and really_lost
(see telecommand task in main_ap.c).

Did you just switch your RC transmitter off? (because that won't help...) Or
did you add some settings to actually turn of RC on the autopilot side (like
we have for rotorcrafts)?

Cheers, Felix

On Thu, Feb 10, 2011 at 10:43 PM, Reto Büttner<address@hidden>
Hi guys,

I had successful maiden flight with my eHawk last weekend. I only
needed one single battery for trimming. No control tuning required. On
the second flight I was already going far in AUTO2. In the mean time I
completed several fully autonomous flights, including takeoff and
landing. A very inspiring experience.

One problem:

In two flights going far suddenly the HOME mode kicked in. The first
time I could explain, because the RC had bad reception and a glitch
caused switching to AUTO1 and then HOME mode triggered. From then on
going far I turned off the RC to avoid glitches. The second time I
couldn't find any reason. No RC and not far from home. It for sure is
not because I was going further than max_distance_from_home.

How can I disable or modify the HOME mode behaviour?


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