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[rotorcraft] force MODE_STARTUP instead of KILL until ahrs is aligned

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- Go to MODE_STARTUP (which defaults to AP_MODE_KILL) instead of AP_MODE_KILL as long as the ahrs is not aligned.
- Remove AUTOPILOT_DISABLE_AHRS_KILL from all example airframes (but kept the functionality for now).

MODE_STARTUP is set to AP_MODE_NAV for the autonomous (without RC) ARDrone2.
Without AUTOPILOT_DISABLE_AHRS_KILL it will force MODE_STARTUP until the ahrs is aligned,
but still not allow to turn on the motors (as that also checks for ahrs_is_aligned).

As far as I can see this should solve #964 as long as you don't have AUTOPILOT_DISABLE_AHRS_KILL defined.
This commit is contained in:
Felix Ruess
2014-11-24 20:01:46 +01:00
parent 0bafabcc0f
commit 63ba5a17a3
7 changed files with 3 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
-1
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@@ -7,7 +7,6 @@
<target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
<configure name="HOST" value="192.168.2.$(AC_ID)"/>
conf/airframes/TUDelft/silverlit_lisas.xml
-1
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@@ -29,7 +29,6 @@ Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="PERIODIC_FREQUENCY" value="120"/> <!-- 120 seams to be the max of the barometer -->
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- NEW -->
</target>
<target name="sim" board="pc"/>
<target name="nps" board="pc">
conf/airframes/ardrone2_raw.xml
-1
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@@ -4,7 +4,6 @@
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>
conf/airframes/ardrone2_raw_optitrack.xml
-1
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@@ -4,7 +4,6 @@
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
<configure name="USE_MAGNETOMETER" value="0"/>
conf/airframes/examples/quadrotor_lisa_s.xml
-1
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@@ -215,7 +215,6 @@
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
</target>
<target name="nps" board="pc">
conf/firmwares/subsystems/rotorcraft/ins_ardrone2.makefile
+1 -1
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@@ -2,6 +2,6 @@
# simple INS with float vertical filter
#
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_ardrone2.h\" -DAUTOPILOT_DISABLE_AHRS_KILL
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_ardrone2.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_ardrone2.c
sw/airborne/firmwares/rotorcraft/autopilot.c
+2 -2
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@@ -347,9 +347,9 @@ INFO("Using FAILSAFE_GROUND_DETECT: KILL")
void autopilot_set_mode(uint8_t new_autopilot_mode) {
/* force kill mode as long as AHRS is not aligned */
/* force startup mode (default is kill) as long as AHRS is not aligned */
if (!ahrs_is_aligned())
new_autopilot_mode = AP_MODE_KILL;
new_autopilot_mode = MODE_STARTUP;
if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */