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[Paparazzi-devel] Possible to skip gyro alignment when paparazzi starts

From: kitso
Subject: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi starts up?
Date: Wed, 03 Jun 2015 11:01:54 +0200
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Dear all,

Question: Is it possible to skip the gyro alignment when paparazzi starts up?

When we will give our system to the ranger (in South Africa to stop rhino poachers) and leave him to use it (without our supervision), one the bigger risks is that he forgets to keep the aircraft steady when paparazzi starts up. He might also forget to verify if he did the startup correctly. Possible result: a crash directly after launch, unhappy ranger, unhappy customer and no solution for the endangered animals.

So, is it possible to skip this step (gyro alignement) in the startup of paparazzi? What are the risks involved? As I understand you can specify GYRO_SENS and GYRO_NEUTRAL as the calibration, but I also read that the AHRS aligner will reset them (the neutral, or bias) at startup.


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