Re: [Paparazzi-devel] Possible to skip gyro alignment when paparazzi starts up?

[Felix Ruess]

Hi,

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:

Hi,

Well, it should be sufficient to not define (or define to FALSE) the flag USE_AHRS_ALIGNER.
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 line:
AHRS_DCM_CFLAGS += -DUSE_AHRS_ALIGNER
in the file:
conf/firmwares/subsystems/shared/ahrs_float_dcm.makefile

Gautier

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.

Cheers,
Kitso


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