[Paparazzi-devel] Reply to:"control loop recovery? (Christoph Niemann)"

[Chris]

Hi Christoph
Well the full joystick control is nice and operational for hand launch 
planes
but for heavy need to taxi planes it is easier to taxi / land / takeoff 
the plane using a normal rc tx
and not the fpv method.
What i am thinking is to have an 9 ch rc receiver on board with a 2x8 
input - 1x8 output
multiplexer that when  the 9nth channel is activated it takes control of 
the plane's servos for taxi / take off and landing IF i wish.
Basically the mux 8 inputs come from the rc rx and 8 from the autopilot.
It will switch the 8 inputs from the receiver to the autopilot according 
to what the rc receiver's 9th channel is set to.
The 9th channel also has a failsafe value so when out of range >1km the 
autopilot has full control.
Sounds complicated but i think it is easy to implement without playing 
with the robust paparazzi code.