Failsafe - Revision history

Flixr: /* Too far from HOME */

2015-04-30T22:29:30Z

Too far from HOME

← Older revision		Revision as of 16:29, 30 April 2015
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	Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''max_dist_from_home''' attribute) set in the		Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''max_dist_from_home''' attribute) set in the
	fight-plan (displayed as a circle on the GCS map).		fight-plan (displayed as a circle on the GCS map).
	The ''MAX_DIST_FROM_HOME`` define is generated (and included via ''generated/flight_plan.h'') from the ''max_dist_from_home'' attribute of the flight plan xml file.		The ''MAX_DIST_FROM_HOME'' define is generated (and included via ''generated/flight_plan.h'') from the ''max_dist_from_home'' attribute of the flight plan xml file.

	==== RC link failure while manual or AUTO1 ====		==== RC link failure while manual or AUTO1 ====

Flixr: /* Too far from HOME */

2015-04-30T22:29:08Z

Too far from HOME

← Older revision		Revision as of 16:29, 30 April 2015
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	==== Too far from HOME ====		==== Too far from HOME ====

	Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''~~MAX_DIST_FROM_HOME~~''' ~~define~~) set in the		Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''max_dist_from_home''' attribute) set in the
	fight-plan (displayed as a circle on the GCS map).		fight-plan (displayed as a circle on the GCS map).
			The ''MAX_DIST_FROM_HOME`` define is generated (and included via ''generated/flight_plan.h'') from the ''max_dist_from_home'' attribute of the flight plan xml file.

	==== RC link failure while manual or AUTO1 ====		==== RC link failure while manual or AUTO1 ====

Flixr: /* Too far from HOME */

2015-04-30T22:23:05Z

Too far from HOME

← Older revision		Revision as of 16:23, 30 April 2015
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	==== Too far from HOME ====		==== Too far from HOME ====

	Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''~~max_dist_from_home~~''' ~~attribute~~) set in the		Home mode is triggered if the distance to the HOME waypoint is greater than a threshold ('''MAX_DIST_FROM_HOME''' define) set in the
	fight-plan (displayed as a circle on the GCS map).		fight-plan (displayed as a circle on the GCS map).

Ghattenb: add rotorcraft failsafe modes

2014-05-23T08:48:59Z

add rotorcraft failsafe modes

@@ Line 5: / Line 5: @@
-== Fly By Wire (FBW) ==
+== Fixed-wing Fly By Wire (FBW) ==
 === 'Failsafe Switch' ===
@@ Line 31: / Line 31: @@
 * RC BAD AND AUTOPILOT DATA TIMEOUT: failsafe command values from airframe configuration XML<br/>(do not omit to fill in useful failsafe values in the command section; usually slight pitch up for minimal speed,  ailerons neutral in order not to roll inverted and of course throttle down: it is not recommended to try to make turns here with aileron deflections. A small rudder deflection on the other hand is recommended when available  )
-== AutoPilot (AP) ==
+== Fixedwing AutoPilot (AP) ==
 === Home mode ===
@@ Line 118: / Line 118: @@
 Do not mix up the <commands> failsafe_value and the <section name="FAILSAFE" prefix="FAILSAFE_"> default values. The first result in fixed servo positions with the plane totally out of control, while the latter still involve the innerloop to stabilize the plane.
 === Lost datalink communication (optional) ===

Mbina: Added link for catastrophic battery level to battery config

2013-09-23T09:28:04Z

Added link for catastrophic battery level to battery config

← Older revision		Revision as of 03:28, 23 September 2013
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	}}		}}

			More about battery related settings can be found at [[Airframe_Configuration#Battery]]

	==== Way too far from HOME ====		==== Way too far from HOME ====

Mbina: minor changes; added example to "catastrophic battery level"

2013-09-12T21:53:12Z

minor changes; added example to "catastrophic battery level"

← Older revision		Revision as of 15:53, 12 September 2013
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	== ~~FBW (~~Fly By Wire) ==		== Fly By Wire (FBW) ==

	=== 'Failsafe Switch' ===		=== 'Failsafe Switch' ===
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	==== Catastrophic battery level ====		==== Catastrophic battery level ====

	If the battery level goes under the catastrophic low level (defined in the airframe file)		If the battery level goes under the catastrophic low level (defined in the airframe file):
			{{Box Code\|myairframefile.xml\|
			<source lang="xml">
			<section name="BAT">
			...
			<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V" />
			...
			</section>
			</source>
			}}


	==== Way too far from HOME ====		==== Way too far from HOME ====
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	</source>		</source>
	}}		}}


	=== Outside mission boundary (optional) ===		=== Outside mission boundary (optional) ===

Mbina: Changed the style a bit; added a TODO (a list requieres completion).

2013-09-12T21:21:55Z

Changed the style a bit; added a TODO (a list requieres completion).

← Older revision		Revision as of 15:21, 12 September 2013
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	* RC BAD AND AUTOPILOT DATA TIMEOUT: failsafe command values from airframe configuration XML<br/>(do not omit to fill in useful failsafe values in the command section; usually slight pitch up for minimal speed, ailerons neutral in order not to roll inverted and of course throttle down: it is not recommended to try to make turns here with aileron deflections. A small rudder deflection on the other hand is recommended when available )		* RC BAD AND AUTOPILOT DATA TIMEOUT: failsafe command values from airframe configuration XML<br/>(do not omit to fill in useful failsafe values in the command section; usually slight pitch up for minimal speed, ailerons neutral in order not to roll inverted and of course throttle down: it is not recommended to try to make turns here with aileron deflections. A small rudder deflection on the other hand is recommended when available )

	== AP ~~(AutoPilot~~) ==		== AutoPilot (AP) ==

	=== Home mode ===		=== Home mode ===
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	==== RC link failure while manual or AUTO1 ====		==== RC link failure while manual or AUTO1 ====

	Home mode is triggered if RC uplink is lost in '''MANUAL''' or '''AUTO 1''' modes.		Home mode is triggered if the RC uplink is lost in '''MANUAL''' or '''AUTO 1''' modes.

	* When '''MANUAL''' the manual mode is restored as soon as RC link is restored as expected.		* When '''MANUAL''' the manual mode is restored as soon as the RC link is restored as expected.
	* However: In '''AUTO 1''' mode, one must manually leave the HOME mode using the GCS		* However: In '''AUTO 1''' mode, one must manually leave the HOME mode using the GCS

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	Then you can restore from HOME mode using the RC and do not need to do this on the GCS if in AUTO1.		Then you can restore from HOME mode using the RC and do not need to do this on the GCS if in AUTO1.

	'''Caution:''' Use these two settings with care, as they might deteriorate the failsafe security of your aircraft.		<span style="color:#FF0000">'''Caution!'''</span> Use these two settings with care, as they might deteriorate the failsafe security of your aircraft.

	=== Kill mode ===		=== Kill mode ===

	In this mode the throttle is killed (this is the default mode when switching on the autopilot). You can enter this mode manually with the kill button (with confirmation). Kill mode is also triggered in the following cases:		In this mode the throttle is killed (this is the default mode when switching on the autopilot). You can enter this mode manually with the kill button (with confirmation).
			Kill mode is also triggered in the following cases:
			* Catastrophic battery level
			* Way too far from HOME

			<span style="color:#FF0000">'''TODO: '''</span> Complete the list. [MB]

	==== Catastrophic battery level ====		==== Catastrophic battery level ====

Mbina at 21:16, 12 September 2013

2013-09-12T21:16:15Z

← Older revision		Revision as of 15:16, 12 September 2013
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	start switching back and forth putting the UAV out of control even if the autpilot is perfectly OK.		start switching back and forth putting the UAV out of control even if the autpilot is perfectly OK.

	CAUTION! Common receivers today (especially 2.4GHz receivers) has own failsafe mode(s). Three ~~mode~~ are used in most cases:		<span style="color:#FF0000">'''CAUTION!'''</span> Common receivers today (especially 2.4GHz receivers) has own failsafe mode(s).
			Three modes are used in most cases:

	# No failsafe: the receiver will switch off servo sinals in case of RC connection lost.<br/>Paparazzi own failsafe will be activated in case of RC connection lost.		# No failsafe: the receiver will switch off servo sinals in case of RC connection lost.<br/>Paparazzi own failsafe will be activated in case of RC connection lost.
	# Last position: the receiver will keep the last valid servo positions in case of RC connection lost.<br/>Paparazzi own failsafe will NOT be activated. (The autopilot will not have information on RC signal lost.)		# Last position: the receiver will keep the last valid servo positions in case of RC connection lost.<br/>Paparazzi own failsafe will NOT be activated. (The autopilot will not have information on RC signal lost.)
	# Preset servo positions: the receiver will switch servo sinals to a preset value in case of RC connection lost.<br/>This values should be set directly in the receiver. (Read manual.) Paparazzi own failsafe will not be activated.<br/>BUT! If you set the failsafe value of the channel used for Mode control(Manual/Auto1/Auto2) to the value which commands Auto2, then paparazzi will switch automaticaly to Auto2 mode in case of RC connection lost.		# Preset servo positions: the receiver will switch servo sinals to a preset value in case of RC connection lost.<br/>This values should be set directly in the receiver. (Read manual.) Paparazzi own failsafe will not be activated.<br/>BUT! If you set the failsafe value of the channel used for Mode control(Manual/Auto1/Auto2) to the value which commands Auto2, then paparazzi will switch automaticaly to Auto2 mode in case of RC connection lost.
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	By default when RC is lost (in Manual or Auto1) HOME mode is triggered, you can change this behaviour by setting the RC_LOST_MODE:		By default when RC is lost (in Manual or Auto1) HOME mode is triggered, you can change this behaviour by setting the RC_LOST_MODE:

			<source lang="xml" >
	<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>		<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
			</source>

	In this example RC_LOST_MODE is set to AUTO2, which can be useful if you experience glitches on your RC on the mode channel and want the aircraft to continue the mission instead of triggering HOME mode. '''BUT''' only use this if you have AUTO2 navigation set up properly and everything is initialized correctly! Another scenario to set this value is if you will fly out of your RC range in a long range mission.		In this example RC_LOST_MODE is set to AUTO2, which can be useful if you experience glitches on your RC on the mode channel and want the aircraft to continue the mission instead of triggering HOME mode. '''BUT''' only use this if you have AUTO2 navigation set up properly and everything is initialized correctly! Another scenario to set this value is if you will fly out of your RC range in a long range mission.
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	You can disable HOME mode locking by adding the following line in your airframe file:		You can disable HOME mode locking by adding the following line in your airframe file:

			<source lang="xml">
	<define name="UNLOCKED_HOME_MODE" value="TRUE"/>		<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
			</source>

	Then you can restore from HOME mode using the RC and do not need to do this on the GCS if in AUTO1.		Then you can restore from HOME mode using the RC and do not need to do this on the GCS if in AUTO1.
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	The plane goes into kill mode if it is too far away from the HOME waypoint. You can configure this '''KILL_MODE_DISTANCE''' in your airframe file:		The plane goes into kill mode if it is too far away from the HOME waypoint. You can configure this '''KILL_MODE_DISTANCE''' in your airframe file:

			<source lang="xml">
	<section name="MISC">		<section name="MISC">
	...		...
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	...		...
	</section>		</section>
			</source>

	In this example it is set to 1.5 times the '''max_dist_from_home''' (attribute set in your flight plan).		In this example it is set to 1.5 times the '''max_dist_from_home''' (attribute set in your flight plan).
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	This can be done via the a flight-plan exception, e.g. go to the Standby block after 30 seconds:		This can be done via the a flight-plan exception, e.g. go to the Standby block after 30 seconds:
	~~In your~~ flightplan.xml:		{{Box Code\|flightplan.xml\|
	<source lang="xml">		<source lang="xml">
	<header>		<header>
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	</exceptions>		</exceptions>
	</source>		</source>
			}}

	=== Outside mission boundary (optional) ===		=== Outside mission boundary (optional) ===
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	For an example see ''EMAV2009_safety.xml'' in the directory ''conf/flight_plans'' is an example of a safety procedure that can be included in other flight-plans.		For an example see ''EMAV2009_safety.xml'' in the directory ''conf/flight_plans'' is an example of a safety procedure that can be included in other flight-plans.
	It uses two [[Flight_Plans#Sectors\|sectors]] defined in ''EMAV2009_data.xml'', a smaller Green "soft boundary" and a hard boundary defined by the Red sector.		It uses two [[Flight_Plans#Sectors\|sectors]] defined in ''EMAV2009_data.xml'', a smaller Green "soft boundary" and a hard boundary defined by the Red sector.
	<~~pre~~>
			<source lang="xml">
	<procedure>		<procedure>
	<exceptions>		<exceptions>
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	</block>		</block>
	</blocks>		</blocks>
			</procedure>
			</source>

	~~</procedure>~~
	~~</pre>~~
	The first exception deroutes the plane to the Center block below it, if it is outside the Green [[Flight_Plans#Sectors\|sector]] or higher than 150m over ground.		The first exception deroutes the plane to the Center block below it, if it is outside the Green [[Flight_Plans#Sectors\|sector]] or higher than 150m over ground.
	While in the Center block the statement in the pre_call function gets evaluated each time, if the plane is now also outside of the Red sector throttle is killed.		While in the Center block the statement in the pre_call function gets evaluated each time, if the plane is now also outside of the Red sector throttle is killed.

	[[Category:Software]] [[Category:User_Documentation]]		[[Category:Software]] [[Category:User_Documentation]]

Jdyuen: /* 'Failsafe Switch' */

2013-05-07T16:33:59Z

'Failsafe Switch'

← Older revision		Revision as of 10:33, 7 May 2013
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	=== 'Failsafe Switch' ===		=== 'Failsafe Switch' ===

	The lowest level of paparazzi is the FBW (Fly By Wire) controller that reads the RC, reads the autopilot commands and drives the ~~servo's~~ based on the lowlevel failsafe options.		The lowest level of paparazzi is the FBW (Fly By Wire) controller that reads the RC, reads the autopilot commands and drives the servos based on the lowlevel failsafe options.

	This is the 'switch' between '''manual''' or '''automatic''' modes. ~~Therefor~~ there is no need for ~~an other~~ failsafe board. Indeed, the paparazzi FBW has evolved with so much intelligence that it is certainly safer than some and probably at least as safe as any other failsafe switches. This is amongst others (besides the highlevel validated code, separated process, ...) because paparazzi FBW unlike generic switches is given precise remote control information in ~~it's~~ RC.xml. If you use a wrong type of transmitter (e.g. not the right amount of channels, or not the correct interval or sync pulse length) ~~than~~ even when on the same frequency the FBW will not listen to the commands. Also, ~~when~~ 2 transmitters ~~should be~~ on the same frequency, then the chance of both signals together still being read as valid is very small. (This does NOT mean you can fly with 2 planes on the same frequency however. This only means that in this catastrophic scenario paparazzi does a pretty good job in delaying disaster from happening. )		This is the 'switch' between '''manual''' or '''automatic''' modes. Therefore there is no need for another failsafe board. Indeed, the paparazzi FBW has evolved with so much intelligence that it is certainly safer than some and probably at least as safe as any other failsafe switches. This is amongst others (besides the highlevel validated code, separated process, ...) because paparazzi FBW unlike generic switches is given precise remote control information in its RC.xml. If you use a wrong type of transmitter (e.g. not the right amount of channels, or not the correct interval or sync pulse length) then even when on the same frequency the FBW will not listen to the commands. Also, if 2 transmitters are on the same frequency, then the chance of both signals together still being read as valid is very small. (This does NOT mean you can fly with 2 planes on the same frequency however. This only means that in this catastrophic scenario paparazzi does a pretty good job in delaying disaster from happening. )

	Be aware that there exist many failsafe switches that use a pulse of the RC (e.g. channel 5) to switch		Be aware that there exist many failsafe switches that use a pulse of the RC (e.g. channel 5) to switch

Jdyuen: /* Setting RC lost mode */

2013-05-07T16:31:03Z

Setting RC lost mode

← Older revision		Revision as of 10:31, 7 May 2013
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	<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>		<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>

	In this example RC_LOST_MODE is set to AUTO2, which can be useful if you experience glitches on your RC on the mode channel and want the aircraft to continue the mission instead of triggering HOME mode. '''BUT''' only use this if you have AUTO2 navigation set up properly and everything is initialized correctly! ~~An other~~ scenario to set this value if you will fly out of your RC range in a long range mission.		In this example RC_LOST_MODE is set to AUTO2, which can be useful if you experience glitches on your RC on the mode channel and want the aircraft to continue the mission instead of triggering HOME mode. '''BUT''' only use this if you have AUTO2 navigation set up properly and everything is initialized correctly! Another scenario to set this value is if you will fly out of your RC range in a long range mission.

	You can disable HOME mode locking by adding the following line in your airframe file:		You can disable HOME mode locking by adding the following line in your airframe file: