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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. |
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| 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 = 2 (return Mode) | + | - NAV_RCL_ACT = 0 (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 = 0 (no action if datalink-loss) | + | - NAV_DLL_ACT = 2 (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) | ||