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searchwing-firmware [2019/04/18 08:29] beckmanf [Releases] Added Hash info |
searchwing-firmware [2019/05/05 11:32] j0ge4622 Add failsafe params |
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After the mag setup is changed, the mag sensors have to be calibrated. If you see a "Mag Inconsistent Error" in QGC, then this setup is wrong. | After the mag setup is changed, the mag sensors have to be calibrated. If you see a "Mag Inconsistent Error" in QGC, then this setup is wrong. | ||
+ | |||
+ | ===== Parameter ===== | ||
+ | |||
+ | ==== Procedure ==== | ||
+ | |||
+ | - Export parameter from QGC (.params file) | ||
+ | - Compare with the concurrent or for a new plane with an already existing file in [[https://gitlab.com/searchwing/operational/searchwing-config/tree/master/PX4|searchwing-config]], e.g. with git diff | ||
+ | - Optional: Delete the not needed parameter and push the new file. | ||
+ | |||
+ | ==== Failsafes ==== | ||
+ | |||
+ | - Low Battery Failsafe: | ||
+ | - COM_LOW_BAT_ACT = 1 (Return Mode) | ||
+ | - BAT_LOW_THR = 0.2 (capacity [%]) | ||
+ | - BAT_CRIT_THR = 0.1 (capacity [%]) | ||
+ | - BAT_EMERGEN_THR = 0.05 (capacity [%]) | ||
+ | - RC Loss Failsafe: | ||
+ | - COM_RC_LOSS_T = 0.5 (time to detect RC-loss [s]) | ||
+ | - NAV_RCL_ACT = 2 (return Mode) | ||
+ | - NAV_RCL_LT = 120 (loiter time to recover RC [s]) | ||
+ | - Data Link Loss Failsafe: | ||
+ | - COM_DL_LOSS_T = 10 (time to detect datalink-loss [s]) | ||
+ | - NAV_DLL_ACT = 0 (no action if datalink-loss) | ||
+ | - Geofence Failsafe: | ||
+ | - GF_ACTION = 3 (Return Mode) | ||
+ | - GF_MAX_HOR_DIST = 3000 (max horizontal distance home-plane [m]) | ||
+ | - GF_MAX_VER_DIST = 200 (max vertical distance home-plane [m]) | ||
+ | - GF_COUNT = -1 (counter limit to detect Geofence) | ||
+ | - Return Home Settings: | ||
+ | - RTL_TYPE = 0 (direkt path to home) | ||
+ | - RTL_DESCEND_ALT = 100 (altitude to loiter above home [m]) | ||
+ | - RTL_LAND_DELAY = 300 (land after delay [s]) | ||
+ | - RTL_RETURN_ALT = 100 (altitude to flight to home [m]) | ||
+ | - Land Mode Settings: | ||
+ | - COM_DISARM_LAND = 1 (disarm after delay [s]) | ||
+ | - Position (GPS) Loss Failsafe: | ||
+ | - COM_POS_FS_DELAY = 1 (time to detect GPS-loss [s]) | ||
+ | - COM_POSCTL_NAVL = 1 (assume no RC → Land Mode with heigt, Termination without) | ||
+ | - NAV_GPSF_LT = 10 (loiter time to recover GPS [s]) | ||
+ | - NAV_GPSF_P = 0 (loiter pitch [deg]) | ||
+ | - NAV_GPSF_R = 15 (loiter roll [deg]) | ||
+ | - NAV_GPSF_TR = 0 (loiter thrust [%]) | ||
+ | - Offboard Loss Failsafe | ||
+ | - COM_OF_LOSS_T = 0 (time to detect offboard-loss [s]) | ||
+ | - Mission Failsafe | ||
+ | - MIS_DIST_1WP = 1500 (max distance home-wp1 [m]) | ||
+ | - MIS_DIST_WPS = 2000 (max distance wp-wp [m]) | ||
+ | - Traffic Avoidance Failsafe | ||
+ | - NAV_TRAFF_AVOID = 2 (Return Mode) | ||
+ | |||
===== Releases ===== | ===== Releases ===== | ||
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* Added X-UAV Mini Talon Airframe | * Added X-UAV Mini Talon Airframe | ||
* {{:searchwing-1.8.2-1.px4.zip|searchwing-1.8.2-1.px4.zip}} | * {{:searchwing-1.8.2-1.px4.zip|searchwing-1.8.2-1.px4.zip}} | ||
- | * Git Hash: 1172edd2a093e614b9ca77bee753c19262295be3 | + | * Git Hash: 1172edd2a093e614b9ca77bee753c19262295be3 |
=== searchwing-1.8.2-2 (27.2.2019) === | === searchwing-1.8.2-2 (27.2.2019) === | ||
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* Added Björns minimal telemetry patch for the Raspberry Pi Camera Trigger from the autopilot | * Added Björns minimal telemetry patch for the Raspberry Pi Camera Trigger from the autopilot | ||
* {{:searchwing-1.8.2-2.px4.zip|searchwing-1.8.2-2.px4.zip}} | * {{:searchwing-1.8.2-2.px4.zip|searchwing-1.8.2-2.px4.zip}} | ||
- | * Git Hash: 2786d39b71068917de6fab381e802f1205988af1 | + | * Git Hash: 2786d39b71068917de6fab381e802f1205988af1 |
- | * [[https://github.com/fredowski/Firmware/commits/searchwing-1.8.2-2| View it on github]] | + | * [[https://github.com/fredowski/Firmware/commits/searchwing-1.8.2-2|View it on github]] |
+ |