[Top][All Lists]

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

RE: [Paparazzi-devel] Disable HOME mode

From: mark.griffin
Subject: RE: [Paparazzi-devel] Disable HOME mode
Date: Mon, 14 Feb 2011 10:49:43 +0100

Just to let you all know that there is a failsafe page on the Wiki that covers, 
amongst other things, the behavior of HOME mode:

-----Original Message-----
From: address@hidden [mailto:address@hidden On Behalf Of Gautier Hattenberger
Sent: Monday, 14 February 2011 9:56 AM
To: address@hidden
Subject: Re: [Paparazzi-devel] Disable HOME mode


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>
>> wrote:
>>> 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?
>>> Cheers,
>>> Reto
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

Paparazzi-devel mailing list

reply via email to

[Prev in Thread] Current Thread [Next in Thread]