hi,
I will move to NAV, and I'll define only one stand-by point.... In
this case th AP_MODE_Failsafe will be applicable, and efficient..
Thanks,
Eric
Le 02/11/2011 17:45, Gautier Hattenberger a écrit :
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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