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Re: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi sta

From: kitso
Subject: Re: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi starts up?
Date: Wed, 10 Jun 2015 11:37:18 +0200
User-agent: Roundcube Webmail/1.0.5

Thank you both for your feedback!!
I will try this next week, and will let you know about my progress


Felix Ruess schreef op 2015-06-07 16:14:

it is not quite that straight forward, as the AHRS algorithms are set
to running only after they have been aligned using the ahrs aligner
data (via ahrs_xxx_align functions).
So if you really don't want to use the aligner at all, you have to set
the ahrs algo to aligned/running from somewhere else in the code...

As an alternative you could lower the time the aligner runs:

<define name="LOW_NOISE_TIME" value="0"/>

Cheers, Felix

On Wed, Jun 3, 2015 at 8:50 PM, Gautier Hattenberger
<address@hidden> wrote:


Well, it should be sufficient to not define (or define to FALSE)
The only issue, is that currently it is enabled by default for all
the ahrs/ins and it is not configurable from the airframe file.
So you should try to comment/remove the flag from the ahrs
subsystem makefile you are currently using and see if it works as
expected (can do it myself right now).
For instance, if you are using the float_dcm ahrs, comment the
in the file:


Le 03/06/2015 11:01, address@hidden a écrit :

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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