Hi,
There is no "almost" nav mode. Being in nav mode means that you are
using the flight plans instructions to fly. If you really want to
only hover while being in this mode, you can just make a flight plan
that waits for the gps and then saty at a given waypoint.
Also the horizontal control loops in hover and nav mode are slightly
different, so if you tune in hover, your flight in nav may not be as
good. So if your goal is to flight in nav mode, trim it in this
mode. If you want to fly manually and hover from time to time, trim
using hover mode.
Gautier
On 02/11/2011 16:53, Eric BAHIER wrote:
hi felix,
In my understand, the failsafe mode began active when we lost GPS
or lost Radio, in NAV-MODE
I read it on :"http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Autopilot_modes",
your link :
- AP_MODE_FAILSAFE
-
This is a failsafe mode that 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 can accept, AP_MODE_HOVER_DIRECT and AP_MODE_HOVER_Z_HOLD are
not realy in NAV mode, but "almost nav mode".
For my test I want first to have AP_MODE_HOVER_Z_HOLD full
opperational up to ????xx km/h wind, and move to NAV when the
stationair(GPS) fly is done.
how to, to triggered the AP_MODE_FAILSAFE , for my understand,
this setup is indépendant from manual/auto1/auto2....I
missuterstand?
regards,
Eric
The autopilot will level the rotorcraft out (setpoints to zero
pitch and roll angles) and descend at 0.5m/s downwards.
Le 02/11/2011 14:29, Eric BAHIER a écrit :
Hi,
I woulds like to use "AP_MODE_FAILSAFE ".
Currently I use :
<section name="MODE">
<define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="AP_MODE_HOVER_DIRECT" />
<define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
</section>
I would like to have "AP_MODE_FAILSAFE" active in HOVERs mode,
is it possible?
I probably lost the GPS some time in HOVER.... and the quad go
away...where it can.... If is stay and land it could be nice
for debuging.
Where, how to... I will proced to use "AP_MODE_FAILSAFE"....
Thanks,
eric
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