[paparazzi-commits] [paparazzi/paparazzi] 63ba5a: [rotorcraft] force MODE_STARTUP instead of KILL un...

[GitHub]

  Branch: refs/heads/ahrs_kill
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 63ba5a17a3cccf9a6645fbbcc15b4d00554d3b6b
      
https://github.com/paparazzi/paparazzi/commit/63ba5a17a3cccf9a6645fbbcc15b4d00554d3b6b
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-24 (Mon, 24 Nov 2014)

  Changed paths:
    M conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
    M conf/airframes/TUDelft/silverlit_lisas.xml
    M conf/airframes/ardrone2_raw.xml
    M conf/airframes/ardrone2_raw_optitrack.xml
    M conf/airframes/examples/quadrotor_lisa_s.xml
    M conf/firmwares/subsystems/rotorcraft/ins_ardrone2.makefile
    M sw/airborne/firmwares/rotorcraft/autopilot.c

  Log Message:
  -----------
  [rotorcraft] force MODE_STARTUP instead of KILL until ahrs is aligned

- Go to MODE_STARTUP (which defaults to AP_MODE_KILL) instead of AP_MODE_KILL 
as long as the ahrs is not aligned.
- Remove AUTOPILOT_DISABLE_AHRS_KILL from all example airframes (but kept the 
functionality for now).

MODE_STARTUP is set to AP_MODE_NAV for the autonomous (without RC) ARDrone2.
Without AUTOPILOT_DISABLE_AHRS_KILL it will force MODE_STARTUP until the ahrs 
is aligned,
but still not allow to turn on the motors (as that also checks for 
ahrs_is_aligned).

As far as I can see this should solve #964 as long as you don't have 
AUTOPILOT_DISABLE_AHRS_KILL defined.