Re: [Paparazzi-devel] Using Paparazzi board as failsafe

[Nathan Aherne]

Hi All,

I have updated my paparazzi code and found the servo switch module, this should 
work fine fore me. What I would like to know is how to use this module (how to 
call servo_switch from within the flight plan) and set the servo to either min 
or max. Also how do I declare which servo output to use?

Kindest regards,
 
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080

On 25/09/2010, at 3:37 PM, Nathan Aherne wrote:

> These are the relevant part of my flight plan in regards to the failsafe 
> action. The rest is just some of the competition waypoints.
> 
> You will see I have implemented the Holdingpoint block so that the Kill block 
> is not run. I would like to understand if there is an easier way to implement 
> this crash failsafe than this, and output to a servo 1000ms or 2000ms. Thanks 
> for your help in advance!
> 
>    <sector color="red" name="MissionBoundary">
>      <corner name="MB1"/>
>      <corner name="MB2"/>
>      <corner name="MB3"/>
>      <corner name="MB4"/>
>      <corner name="MB5"/>
>      <corner name="MB6"/>
>      <corner name="MB7"/>
>      <corner name="MB8"/>
>      <corner name="MB9"/>
>      <corner name="MB10"/>
>      <corner name="MB11"/>
>    </sector>
>  </sectors>
>  <exceptions>
>      <exception cond="! InsideMissionBoundary(estimator_x, estimator_y)" 
> deroute="Kill"/>
>  </exceptions>
>  <blocks>
> <!-- FLIGHT PLAN -->
>    <block name="Wait GPS">
>      <set value="1" var="kill_throttle"/>
>      <while cond="!GpsFixValid()"/>
>    </block>
>    <block name="Geo init">
>      <while cond="LessThan(NavBlockTime(), 10)"/>
>      <call fun="NavSetGroundReferenceHere()"/>
>      <set value="0" var="estimator_flight_time"/>
>    </block>
>    <block name="Holding point">
>      <call fun="NavSetWaypointHere(WP_STPT)"/>
>      <set value="1" var="kill_throttle"/>
>      <attitude roll="0" throttle="0" vmode="throttle"/>
>    </block>
>    <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
>      <go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
>    </block>
> 
> Kindest regards,
> 
> Nathan Aherne
> Email: address@hidden
> Mob: 0402 555 080
> 
> On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:
> 
>> We would like to use the Paparazzi as a failsafe in this years outback 
>> challenge, plus use its other features to control and report back certain 
>> tests and conditions. We are using the paparazzi for this because it 
>> supplies so much more data than our commercial autopilot.
>> 
>> The failsafe part just needs to output 2000ms or 1000ms on a servo output if 
>> the aircraft goes over the mission boundary. I have already built some code, 
>> but it seems there must be a simpler way to get the autpilot to do this, 
>> could someone help me out with this one please? Some sample code would be 
>> great and possibily an explanation of what I need to initialise.
>> 
>> I am only wanting to run the GPS, Xbee and TWOG if possible.
>> 
>> Thanks in advance!
>> 
>> Kindest regards,
>> 
>> Nathan Aherne
>> Email: address@hidden
>> Mob: 0402 555 080
>> 
>> 
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> 
> 
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