Re: [Paparazzi-devel] Disable HOME mode

[Reto Büttner]

Hi guys,

the two mentioned settings in the airframe file work fine for me. I
put this feature on the wiki:

http://paparazzi.enac.fr/wiki/Failsafe#AP_.28AutoPilot.29

Cheers, Reto

2011/2/14 Felix Ruess <address@hidden>:
> Gautier, you are right of course, but sometimes having an unreliable RC link
> (especially when flying farther away) it can be more unreliable/dangerous to
> leave the RC link on the MAV on, because you might get transient bogus
> signals from other people and if you are unlucky this might change your
> mode.
>
> On Mon, Feb 14, 2011 at 10:49 AM, <address@hidden> wrote:
>>
>> Just to let you all know that there is a failsafe page on the Wiki that
>> covers, amongst other things, the behavior of HOME mode:
>> http://paparazzi.enac.fr/wiki/Failsafe
>>
>>
>> -----Original Message-----
>> From: address@hidden
>> [mailto:address@hidden On Behalf
>> Of Gautier Hattenberger
>> Sent: Monday, 14 February 2011 9:56 AM
>> To: address@hidden
>> Subject: Re: [Paparazzi-devel] Disable HOME mode
>>
>> Hi,
>>
>> Just a few words on the RC OFF "feature" on rotorcraft. It is a hack I
>> add for a competition and it was a really stupid idea. We almost crashed
>> in the public because of that. I should have removed this earlier. If we
>> want a safety mechanism, we should think of something more robust, but
>> that keep the safety pilot in the loop. Maybe by using the dist_to_home
>> information ?
>>
>> Gautier
>>
>> On 13/02/2011 21:58, Reto Büttner wrote:
>> > Hi Felix,
>> >
>> > thanks for your hints. I will try the following two lines in my airframe
>> > file:
>> >
>> > <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
>> > <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
>> >
>> > These lines have been used by OSAM in their airframe file
>> > osam_xsens_twog.xml.
>> >
>> > I simply turned off my RC transmitter. The ability to turn off the RC
>> > on the autopilot side sounds better. Can this be done easily on fixed
>> > wing? But using the two lines above I might not even need it anymore.
>> >
>> > I will fly some tests in this configuration before changing main_ap.c.
>> >
>> > Cheers, Reto
>> >
>> > 2011/2/12 Felix Ruess<address@hidden>:
>> >> Hi Reto,
>> >>
>> >> that sounds a bit strange, are you really sure you were not too far
>> >> away
>> >> (got a GPS measurement that put the plane to far away).
>> >>
>> >> to avoid being locked in HOME mode you can add
>> >>     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
>> >> to your airframe file. But this does not disable HOME mode, just lets
>> >> you
>> >> change the mode via RC so you don't have to leave HOME mode using the
>> >> GCS.
>> >> But you should use this option with caution.
>> >>
>> >> You can also define RC_LOST_MODE (default is PPRZ_MODE_HOME) if you
>> >> really
>> >> want to.
>> >>
>> >> Apart from setting MAX_DIST_FROM_HOME to a high value, you currently
>> >> can not
>> >> completely disable home mode afaik.
>> >> But the only two reasons for home mode are too_far_from_home and
>> >> really_lost
>> >> (see telecommand task in main_ap.c).
>> >>
>> >> Did you just switch your RC transmitter off? (because that won't
>> >> help...) Or
>> >> did you add some settings to actually turn of RC on the autopilot side
>> >> (like
>> >> we have for rotorcrafts)?
>> >>
>> >> Cheers, Felix
>> >>
>> >> On Thu, Feb 10, 2011 at 10:43 PM, Reto Büttner<address@hidden>
>> >> wrote:
>> >>> Hi guys,
>> >>>
>> >>> I had successful maiden flight with my eHawk last weekend. I only
>> >>> needed one single battery for trimming. No control tuning required. On
>> >>> the second flight I was already going far in AUTO2. In the mean time I
>> >>> completed several fully autonomous flights, including takeoff and
>> >>> landing. A very inspiring experience.
>> >>>
>> >>> One problem:
>> >>>
>> >>> In two flights going far suddenly the HOME mode kicked in. The first
>> >>> time I could explain, because the RC had bad reception and a glitch
>> >>> caused switching to AUTO1 and then HOME mode triggered. From then on
>> >>> going far I turned off the RC to avoid glitches. The second time I
>> >>> couldn't find any reason. No RC and not far from home. It for sure is
>> >>> not because I was going further than max_distance_from_home.
>> >>>
>> >>> How can I disable or modify the HOME mode behaviour?
>> >>>
>> >>> Cheers,
>> >>> Reto
>> >>>
>> >>> _______________________________________________
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