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Re: [Paparazzi-devel] Using Paparazzi board as failsafe
From: |
Nathan Aherne |
Subject: |
Re: [Paparazzi-devel] Using Paparazzi board as failsafe |
Date: |
Sat, 25 Sep 2010 15:37:07 +1000 |
These are the relevant part of my flight plan in regards to the failsafe
action. The rest is just some of the competition waypoints.
You will see I have implemented the Holdingpoint block so that the Kill block
is not run. I would like to understand if there is an easier way to implement
this crash failsafe than this, and output to a servo 1000ms or 2000ms. Thanks
for your help in advance!
<sector color="red" name="MissionBoundary">
<corner name="MB1"/>
<corner name="MB2"/>
<corner name="MB3"/>
<corner name="MB4"/>
<corner name="MB5"/>
<corner name="MB6"/>
<corner name="MB7"/>
<corner name="MB8"/>
<corner name="MB9"/>
<corner name="MB10"/>
<corner name="MB11"/>
</sector>
</sectors>
<exceptions>
<exception cond="! InsideMissionBoundary(estimator_x, estimator_y)"
deroute="Kill"/>
</exceptions>
<blocks>
<!-- FLIGHT PLAN -->
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<set value="0" var="estimator_flight_time"/>
</block>
<block name="Holding point">
<call fun="NavSetWaypointHere(WP_STPT)"/>
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
<go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
</block>
Kindest regards,
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080
On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:
> We would like to use the Paparazzi as a failsafe in this years outback
> challenge, plus use its other features to control and report back certain
> tests and conditions. We are using the paparazzi for this because it supplies
> so much more data than our commercial autopilot.
>
> The failsafe part just needs to output 2000ms or 1000ms on a servo output if
> the aircraft goes over the mission boundary. I have already built some code,
> but it seems there must be a simpler way to get the autpilot to do this,
> could someone help me out with this one please? Some sample code would be
> great and possibily an explanation of what I need to initialise.
>
> I am only wanting to run the GPS, Xbee and TWOG if possible.
>
> Thanks in advance!
>
> Kindest regards,
>
> Nathan Aherne
> Email: address@hidden
> Mob: 0402 555 080
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
- [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe,
Nathan Aherne <=
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Felix Ruess, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Felix Ruess, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/25
- [Paparazzi-devel] Debian Linux installation, Alan Kitching, 2010/09/26
- Re: [Paparazzi-devel] Debian Linux installation, Nathan Aherne, 2010/09/26
- Re: [Paparazzi-devel] Debian Linux installation, Alan Kitching, 2010/09/27
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/25
- Re: [Paparazzi-devel] Using Paparazzi board as failsafe, Nathan Aherne, 2010/09/26