Difference between revisions of "DevGuide/BoozDesign"
From PaparazziUAV
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m (→Autopilot) |
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| Line 21: | Line 21: | ||
* Mode change from RC | * Mode change from RC | ||
* RC lost | * RC lost | ||
| + | ** goto Home | ||
| + | * datalink lost | ||
* GPS lost | * GPS lost | ||
| + | ** if in Nav goto failsafe | ||
* outside zone | * outside zone | ||
* battery low | * battery low | ||
Revision as of 10:55, 21 September 2009
Here we want to collect our thoughts on the re-design of the booz airborne code.
Use Cases
- Interface on Navigation, Guidance, Stabilization and Supervision level
- Priority system
- priority of RC to switch to manual
- Overlay of different inputs
- RC over Guidance
- FMS over RC (e.g. test signal)
- Limit max. throttle with RC
Requirements
Autopilot
Describe modules (nav, guidance, stabilization, etc.) as xml with in and outputs. A mode is a specific connection of modules. Events can change the mode.
Events:
- Mode change from RC
- RC lost
- goto Home
- datalink lost
- GPS lost
- if in Nav goto failsafe
- outside zone
- battery low
possible priority systems:
- Every mode belongs to a certain priority level. If an event requests a new mode with a higher priority than the current mode it is switched to the new mode.
Better suited for a lot of different modes which can be grouped into priority levels. - Every event has a condition (current mode) and associated requested mode (or multiple conditions). If the condition matches the current mode the autopilot will switch to the new mode.
e.g. Event: GPS lost Condition: Nav mode ReqMode: Failsafe
This will get tedious with a lot of modes....
Current Status
The ImageMap extension is not installed.
ReDesign
input and control loops
The ImageMap extension is not installed.
