[Paparazzi-devel] Arming sequence and booz_cam questions

[Andrius Batalauskas]

Happy New Year folks!

(Liza/M 1.0/Quadcopter/v4.2.0_stable-2-gd155873)

1) A question concerning the standard arming procedure for the motors 
(throttle min and full yaw). The motors start and shut down after 
pushing the yaw both to the left or the right with a time lag of 1 sec.
Is it possible to alter the sequence to start the motors only by pushing 
yaw to the left and shut them down only by pushing the yaw to the right?

2) Additionally, I want to reduce the time lag. Is the 1 sec standard or 
just a result of my configuration? Can I use the parameter 
ACCTUATOR_DELAY_TIME within the airframe to reduce the time lag during 
arming sequence? Which values are appropriate? Any suggestion is 
appreciated!

3) We are still trying to implement an automatic heading cam even if it 
takes some C-Code modifications in the end.
The idea is to "tilt" the cam manually (let´s say with up/down buttons 
from GCS) and later automatically by reading the pitch value from our 
Quad. So no panning whatsoever.
With the configuration files attached I get the following error while 
compiling:

firmwares/rotorcraft/main.c: In function 'telemetry_periodic':
firmwares/rotorcraft/main.c:176:1: error: 'booz_cam_pan' undeclared 
(first use in this function)
firmwares/rotorcraft/main.c:176:1: note: each undeclared identifier is 
reported only once for each function it appears in
make[1]: *** 
[/home/and/papa_42/var/Quad_LisaM_HSB/ap/firmwares/rotorcraft/main.o] 
Error 1
make[1]: Leaving directory `/home/and/papa_42/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/and/papa_42'


Any ideas?

Cheers!
Andrius

lisa_m_hsb_cam.xml
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booz_cam_mod.xml
Description: Text Data