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Re: [Paparazzi-devel] multirotor failsafe

From: Felix Ruess
Subject: Re: [Paparazzi-devel] multirotor failsafe
Date: Mon, 12 May 2014 21:24:11 +0200

Hi Alonso,

in master (and v5.1_testing which we can hopefully soon release as v5.2) the failsafes of rotorcraft are very simlar to the fixedwing failsafes now.
See for fixedwing failsafes (needs to be updated to include rotorcraft failsafes).

There are several possible modes that are triggered on different conditions:
See also (which is not yet completely up-to-date with master).

Distance triggers:

RC lost trigger:

GPS lost trigger (if USE_GPS):

Battery voltage trigger:

I think thats currently it.... apart from more custom exceptions you can add in your flight plan for NAV mode of course.

Cheers, Felix

On Thu, May 8, 2014 at 3:23 AM, alonso acuña <address@hidden> wrote:
Any comments? I am interested in improving and clearly documenting the failsafe functions and procedures. Hopefully this can prevent damage and injuries.  The Naza autopilot has some interesting failsafe functions which are detailed in the manual   They don't mention GPS failure. They mention low voltage but do not seem to have any automatic landing procedures in that case. So there is much room for improvement.

Probably the first step would be if there is anyone familiar with the current code who can explain where we are and then we can discuss what we would like to have and get some volunteers to get it done.



On Mon, Apr 28, 2014 at 2:59 PM, alonso acuña <address@hidden> wrote:
Hi. I am reading that failsafe mode just lands and gets triggered if:

- RC signal is lost (and you are not in KILL or NAV mode)

- GPS and RC is lost in NAV mode 

I am wondering what happens when GPS is lost but RC is not lost in NAV mode and what is the operator supposed to do?

I am interested in a mode with manual control (not NAV) and when RC signal is lost it would hold 3D position for a while and if signal is not restored then it would return to home.



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