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searchwing-firmware [2019/05/05 11:32]
j0ge4622 Add failsafe params
searchwing-firmware [2019/05/05 11:57] (current)
j0ge4622 Update the failsafe params.
Line 66: Line 66:
  
   - Low Battery Failsafe:   - Low Battery Failsafe:
-      - COM_LOW_BAT_ACT = 1 (Return Mode) 
-      - BAT_LOW_THR = 0.2 (capacity [%]) 
       - BAT_CRIT_THR = 0.1 (capacity [%])       - BAT_CRIT_THR = 0.1 (capacity [%])
       - BAT_EMERGEN_THR = 0.05 (capacity [%])       - BAT_EMERGEN_THR = 0.05 (capacity [%])
 +      - BAT_LOW_THR = 0.2 (capacity [%])
 +      - COM_LOW_BAT_ACT = 1 (return mode)
   - RC Loss Failsafe:   - RC Loss Failsafe:
-      - COM_RC_LOSS_T = 0.5 (time to detect RC-loss [s]) +      - COM_RC_LOSS_T = 5 (time to detect RC-loss [s]) 
-      - NAV_RCL_ACT = (return Mode) +      - NAV_RCL_ACT = (no action)
-      - NAV_RCL_LT = 120 (loiter time to recover RC [s])+
   - Data Link Loss Failsafe:   - Data Link Loss Failsafe:
       - COM_DL_LOSS_T = 10 (time to detect datalink-loss [s])       - COM_DL_LOSS_T = 10 (time to detect datalink-loss [s])
-      - NAV_DLL_ACT = (no action if datalink-loss)+      - NAV_DLL_ACT = (return mode)
   - Geofence Failsafe:   - Geofence Failsafe:
-      - GF_ACTION = 3 (Return Mode)+      - GF_ACTION = 3 (return mode) 
 +      - GF_COUNT = -1 (counter limit to detect geofence breach)
       - GF_MAX_HOR_DIST = 3000 (max horizontal distance home-plane [m])       - GF_MAX_HOR_DIST = 3000 (max horizontal distance home-plane [m])
-      - GF_MAX_VER_DIST = 200 (max vertical distance home-plane [m]+      - GF_MAX_VER_DIST = 250 (max vertical distance home-plane [m])
-      - GF_COUNT = -1 (counter limit to detect Geofence)+
   - Return Home Settings:   - Return Home Settings:
-      - RTL_TYPE = 0 (direkt path to home) 
       - RTL_DESCEND_ALT = 100 (altitude to loiter above home [m])       - RTL_DESCEND_ALT = 100 (altitude to loiter above home [m])
-      - RTL_LAND_DELAY = 300 (land after delay [s])+      - RTL_LAND_DELAY = -1 (no land, just loiter ​[s])
       - RTL_RETURN_ALT = 100 (altitude to flight to home [m])       - RTL_RETURN_ALT = 100 (altitude to flight to home [m])
 +      - RTL_TYPE = 0 (direkt path to home)
   - Land Mode Settings:   - Land Mode Settings:
       - COM_DISARM_LAND = 1 (disarm after delay [s])       - COM_DISARM_LAND = 1 (disarm after delay [s])
   - Position (GPS) Loss Failsafe:   - 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)       - COM_POSCTL_NAVL = 1 (assume no RC → Land Mode with heigt, Termination without)
 +      - COM_POS_FS_DELAY = 5 (time to detect GPS-loss [s])
       - NAV_GPSF_LT = 10 (loiter time to recover GPS [s])       - NAV_GPSF_LT = 10 (loiter time to recover GPS [s])
       - NAV_GPSF_P = 0 (loiter pitch [deg])       - NAV_GPSF_P = 0 (loiter pitch [deg])
       - NAV_GPSF_R = 15 (loiter roll [deg])       - NAV_GPSF_R = 15 (loiter roll [deg])
       - NAV_GPSF_TR = 0 (loiter thrust [%])       - NAV_GPSF_TR = 0 (loiter thrust [%])
-  - Offboard Loss Failsafe 
-      - COM_OF_LOSS_T = 0 (time to detect offboard-loss [s]) 
   - Mission Failsafe   - Mission Failsafe
       - MIS_DIST_1WP = 1500 (max distance home-wp1 [m])       - MIS_DIST_1WP = 1500 (max distance home-wp1 [m])
       - MIS_DIST_WPS = 2000 (max distance wp-wp [m])       - MIS_DIST_WPS = 2000 (max distance wp-wp [m])
 +      - Set both values to -1, if more than 10km are needed.
   - Traffic Avoidance Failsafe   - Traffic Avoidance Failsafe
       - NAV_TRAFF_AVOID = 2 (Return Mode)       - NAV_TRAFF_AVOID = 2 (Return Mode)
  • searchwing-firmware.txt
  • Last modified: 2019/05/05 11:57
  • by j0ge4622