[Paparazzi-devel] Estimator and Autopilot Handover Questions

[David Bryant]

Hi,

I have a concern in regard to our novel use of paparazzi that I am 
trying to address.

On launch, our aircraft sits in a cannon mount that prevents the 
thermopiles from having a view of the surroundings. Paparazzi is 
instructed to keep the control surfaces fixed at neutral. Then the 
cannon launches the aircraft, and we detect this launch using an 
accelerometer. Some small period later we tell the autopilot to take 
control of the plane.

My concern is whether there will be a window of time between:

The thermopiles acquiring a clear view of the surroundings and 
consequently stabilising the estimator.

 AND

The duration that the aircraft can be self-stable relying on fixed 
control surfaces.

Some questions:

When is the estimator running in paparazzi? Always?

We know the initial attitude of the aircraft; is it possible to 
(re)initialise the estimator using these values just prior to letting 
the autopilot control the aircraft?

Approximately what is the convergence time of the estimator from 
thermopile input?

Thanks,
Dave