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[paparazzi-commits] [paparazzi/paparazzi] 63ba5a: [rotorcraft] force MOD
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[paparazzi-commits] [paparazzi/paparazzi] 63ba5a: [rotorcraft] force MODE_STARTUP instead of KILL un... |
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Date: |
Wed, 26 Nov 2014 08:44:41 -0800 |
Branch: refs/heads/master
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.
Commit: 78b52b6f3c3538cabb659886c85f391d4411e537
https://github.com/paparazzi/paparazzi/commit/78b52b6f3c3538cabb659886c85f391d4411e537
Author: Felix Ruess <address@hidden>
Date: 2014-11-24 (Mon, 24 Nov 2014)
Changed paths:
M sw/airborne/firmwares/rotorcraft/autopilot.c
M sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
M sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
Log Message:
-----------
[rotorcraft] arming: only check if motors can be armed if ahrs_is_aligned
Commit: 0fdbe7df4d0921605482b60ab5ef97c8d865583b
https://github.com/paparazzi/paparazzi/commit/0fdbe7df4d0921605482b60ab5ef97c8d865583b
Author: Felix Ruess <address@hidden>
Date: 2014-11-26 (Wed, 26 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
M sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
M sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
Log Message:
-----------
Merge pull request #983 from paparazzi/ahrs_kill
[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).
This closes #964 (as long as you don't have AUTOPILOT_DISABLE_AHRS_KILL
defined).
Compare:
https://github.com/paparazzi/paparazzi/compare/fe02983febdb...0fdbe7df4d09