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Re: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi sta
Re: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi starts up?
Wed, 03 Jun 2015 20:50:12 +0200
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Well, it should be sufficient to not define (or define to FALSE) the
The only issue, is that currently it is enabled by default for all the
ahrs/ins and it is not configurable from the airframe file.
So you should try to comment/remove the flag from the ahrs subsystem
makefile you are currently using and see if it works as expected (can do
it myself right now).
For instance, if you are using the float_dcm ahrs, comment the line:
AHRS_DCM_CFLAGS += -DUSE_AHRS_ALIGNER
in the file:
Le 03/06/2015 11:01, address@hidden a écrit :
Question: Is it possible to skip the gyro alignment when paparazzi
When we will give our system to the ranger (in South Africa to stop
rhino poachers) and leave him to use it (without our supervision), one
the bigger risks is that he forgets to keep the aircraft steady when
paparazzi starts up. He might also forget to verify if he did the
startup correctly. Possible result: a crash directly after launch,
unhappy ranger, unhappy customer and no solution for the endangered
So, is it possible to skip this step (gyro alignement) in the startup
of paparazzi? What are the risks involved?
As I understand you can specify GYRO_SENS and GYRO_NEUTRAL as the
calibration, but I also read that the AHRS aligner will reset them
(the neutral, or bias) at startup.
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