Re: [Paparazzi-devel] HOME mode

[Pascal Brisset]

Hi,

Andrew S wrote:
> Hello
> I have small problem. When I switch on plane near the car, trees, 
> buildings, autopilot gets home mode. What are conditions to enter the 
> home mode?
Too far from HOME or RC lost in MANUAL or AUTO1.
If the RC link is bad, it could be a good idea to set the flag

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>

in the airframe file. Il will disable the second condition.

> Can me swith of it at all?
No from the configuration
Yes from the code
> Next problem. Home procedure works on fixed altitude, and after 
> entering home, plane reaches this altitude immediately, so what if we 
> fly in mountains, and it higher than starting point?
nav.c:370: nav_altitude = ground_alt+SECURITY_HEIGHT;

where SECURITY_HEIGHT is coming from your flight plan header.
> Maybe better solution is transfer the home procedure to exceptions 
> section of flight plan?
The idea is that the HOME mode will run even if the navigation automata 
is broken (from a <while/> loop or a call to faulty user function).

--Pascal

> Regards, Andrew
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