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

[Felix Ruess]

you might also want to take a look at the EMAV2009.xml flight plan
(which includes EMAV2009_safety.xml as a procedure)....

On Sat, Sep 25, 2010 at 2:57 PM, Felix Ruess <address@hidden> wrote:
> Hi Nathan,
>
> I just updated the servo_switch module a bit. I can't test it at the
> moment, but it *should* work as advertised ;-)
>
> Have a look at the mentor_tum.xml airframe... there it is used.
>
> Now you only have to declare a servo in your airframe.xml that you
> want to use. Previously you had to set up commands, command laws as
> well.
>
> By default the servo_switch module looks for a servo called SWITCH.
> The switch on value is 2000us and switch off is 1000us by default.
> If you want to use a different servo/values you can set that in the
> modules section, e.g. for a servo named KILL:
>  <load name="servo_switch.xml">
>      <param name="SERVO_SWITCH_ON_VALUE"  value="1100"/>
>      <param name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
>      <param name="SERVO_SWITCH_SERVO"     value="SERVO_KILL"/>
>  </load>
>
> In your flight plan you just call the makro defined in servo_switch.h
>   <call fun="ServoSwitchOn()"/>
> or
>   <call fun="ServoSwitchOff()"/>
> respectively.
>
> Cheers, Felix
>
> On Sat, Sep 25, 2010 at 8:51 AM, Nathan Aherne <address@hidden> wrote:
>> 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
>>>>
>>>>
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>>>
>>>
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