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Re: [Paparazzi-devel] Failsafe setting


From: Jochen Rieger
Subject: Re: [Paparazzi-devel] Failsafe setting
Date: Thu, 22 Dec 2011 12:56:05 +0100

AH ok, dump mistake.

#define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
  (pprz > TRESHOLD2 ? PPRZ_MODE_AUTO1 : \
        ( ( (pprz > TRESHOLD1) && (pprz < TRESHOLD2) ) ? PPRZ_MODE_AUTO2  : \
        ( ( (pprz < TRESHOLD3) && (pprz > TRESHOLD4) ) ? PPRZ_MODE_HOME : PPRZ_MODE_MANUAL)))

Is this ok?

-Jochen


2011/12/22 Jochen Rieger <address@hidden>
I think i believe how i can solve my problem. Theoretically. But practical, I get some errors.

I want to define an additional mode to channel 5.

Autopilot.h:

#define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)

#define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
#define TRESHOLD2 (MAX_PPRZ/2)
#define TRESHOLD3 (MIN_PPRZ - TRESHOLD1) 
// My additional mode should set if the value is around -5600
#define TRESHOLD4 (MIN_PPRZ - (TRESHOLD1 / 2) )

#define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
  (pprz > TRESHOLD2 ? PPRZ_MODE_AUTO1 : \
        ( ( (pprz > TRESHOLD1) ?? (pprz < TRESHOLD2) ) ? PPRZ_MODE_AUTO2  : \
        ( ( (pprz < TRESHOLD3) ?? (pprz > TRESHOLD4) ) ? PPRZ_MODE_HOME : PPRZ_MODE_MANUAL)))

While compile, the follow mistake appears:

In file included from firmwares/fixedwing/main_fbw.c:43:
./firmwares/fixedwing/autopilot.h: In function 'autopilot_process_radio_control':
./firmwares/fixedwing/autopilot.h:110: error: expected _expression_ before '?' token
./firmwares/fixedwing/autopilot.h:110: error: expected ':' before ')' token
./firmwares/fixedwing/autopilot.h:110: error: expected _expression_ before '?' token
./firmwares/fixedwing/autopilot.h:110: error: expected ':' before ')' token

Is this approach the right one and where is the mistake?


Thanks for any help.

Best regards.
Jochen



2011/12/21 Jochen Rieger <address@hidden>
Hello,

how can i set the RC-lost failsafe at mode channel 5? When channel 5 has a specific value, around 9600 us, the ap should regocnize an RC lost and set to HOME mode.
And additional, which average should be the channel 5 in the radio file?
Four modes (Manual, AUTO1, AUTO2 and Failsafe) should be detect.


Best regards.
Jochen




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