Re: [Paparazzi-devel] automatic cut off at landing

[Eric BAHIER]

Hi,

I am back from airfield....

I have try to use in the airframe file :
<define name="FAILSAFE_GROUND_DETECT"/>
I have past it after
<define name="USE_ADAPT_HOVER"/>
<define name="GUIDANCE_H_USE_REF"/>

no effect in "ATTITUDE MODE", no effect in "NAV" flare, no effect in 
"NAV" land...
in NAV flare, it find the ground, it put little more gaz when it land....

the autopilot.h is "standard", no modification, treshold is set to 15

With a land test from 15meters, the "touchdown" was hard, very hard, but 
the props continue tu turn.....

Have you an idea where is my bad understanding?

best regards,

Eric





Le 02/11/2011 16:26, Eric BAHIER a écrit :
> Hi,
>
> Many thanks for this complet aswer.... I will look and try to implement.
> This week the weather is too windy to try it in real condition, next 
> fly this week--end or next week!!
>
>
> regards,
>
> Eric
>
> Le 02/11/2011 16:00, Felix Ruess a écrit :
> > Hi Eric,
> >
> > you can add<define name="FAILSAFE_GROUND_DETECT"/>  to your firmware
> > section to enable this.
> >
> > As the name suggests this enables ground detection in failsafe mode,
> > so the motors will switch off when you are in failsafe mode and the
> > ground has been detected.
> >
> > This will also enable the ground detection to automatically switch off
> > the motors after a commanded landing if you use that in your flight
> > plan, e.g. rotorcraft_basic.xml
> >
> > Ground detection currently is very very simple and might result in
> > switching off the motors too early:
> > If the acceleration on the (LTP) z-axis exceeds a threshold it is
> > assumed that you just bumped into the ground. (see
> > sw/airborne/firmwares/rotorcraft/autopilot.h line 114)
> > So if you have a lot of vibrations on your multicopter, it might think
> > you just touched the ground and
> > You can adjust the threshold by defining THRESHOLD_GROUND_DETECT,
> > otherwise the default of 15 m/s² is used ( .../autopilot.h line 112)
> >
> > Cheers, Felix
> >
> > On Fri, Oct 28, 2011 at 3:43 PM, Eric BAHIER<address@hidden>  
> > wrote:
> > > Hello,
> > >
> > > I have earth it was possible to have an automatique engine cutoff at 
> > > landing
> > > on the quad.
> > >
> > > I can not find where is this nice parameter, if it not a "dream only".
> > >
> > >
> > > regards
> > >
> > > Eric
> > >
> > > _______________________________________________
> > > Paparazzi-devel mailing list
> > > address@hidden
> > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

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Eric BAHIER
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