|Subject:||Re: [Paparazzi-devel] strange behaviour in lisa m|
|Date:||Tue, 10 Sep 2013 00:19:53 +0300|
We moved to the stable branch. I have added these exceptions to the flight_plan as you recommend:
<exception cond="auto2_land && (datalink_time > 180 || (electrical.bat_low && !electrical.bat_critical))" deroute="Standby"/>
<exception cond="electrical.bat_critical && auto2_land" deroute="Land Right AF-TD"/>
auto2_land variable is TRUE at the beginning, and it becomes FALSE when it goes to "Land Right AF-TD". If we don't use this variable, it continuously switches between Standby and Land blocks.
Today, although we used this variable, it continuosly switched between Standby and Land. Do you have an idea about it?
The bad thing is, in Standby it wanted to turn left, but in Land it wanted to turn right. Because of continuously switching between these blocks, it went in a straight line. We were lucky that the RC worked at that distance.
Using exceptions is not very simple I think. Do we forget something? I dont understand how it went to standby, although auto2_land was FALSE.
By the way, the strange behaviour while uploading the code to Lisa M was due to the ETS airspeed sensor. We did not turn off the power of it during boot.
No, we don't add new features to the stable branches, only bugfixes.
On Sun, Sep 8, 2013 at 11:20 PM, Refik Sever <address@hidden> wrote:
Thank you for your recommendations.
We upload the code using USB cable. We turn off the 12V battery, and the autopilot takes its voltage from USB. Therefore, some of the peripherals (Airspeed sensor etc) are off during upload. Then, we remove the USB cable and turn on the battery. We always make a power cycle after upload. Sometimes, it does not behave normal, and we need to upload it again.
"in order to make checks for low or critical batter voltage easier and more robust we added this to the electrical subsystem in master."
Did you also add it to stable branch?
in order to make checks for low or critical batter voltage easier and more robust we added this to the electrical subsystem in master.
It will automatically set the electrical.bat_low and electrical.bat_critical flags when the voltage drops below BAT_LOW or BAT_CRITIC for a certain amount of time to avoid setting this on very short voltage drops.
You can use it in your flight plans for example as follows:
<exception cond="electrical.bat_low && !electrical.bat_critical" deroute="Standby"/>
<exception cond="electrical.bat_critical" deroute="land"/>
About the behavior right after upload new code to the autopilot: depending on how you upload the code (jtag, usb, etc..) it sometimes seems to not correctly reset everything (probably related to external peripherals?).
To be safe you can power cycle once to make sure everything starts up as intended.
@Piotr: do you know why this sometimes happens?
On Sun, Sep 8, 2013 at 9:27 PM, Refik Sever <address@hidden> wrote:
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