robertha wrote:In my opinion have fixed throtle as a failsafe is a bit pathetic - when wrongly set (weight change - different batery, without camera), the copter will either fall as a brick or fly away - depend just on weight to thrust ratio - think the NH vario descent is an absolute minimum for failsafe.
Moraes wrote:What modifications can I do to decrease the size of the sketch and fit in atmega 328 ?
Code: Select all
#define ADV_RTH true
#define SAFE_RTH_ALT 20 // MetersStart climb in PosHold to RTH alt.(Mag hold)
Start RTH with nose pointing towards home.
At home radius.
Switch back to Poshold and nose in Staring Direction.
Start descending.
Land and lower motors to idle.
Disarm if in Failsafe.
PatrikE wrote:The way it disarms in the video is a sign on that it's Home and landed.
You need to move the copter away from Home Position before it activates a RTH.
Make a test without propellers.
Arm the Copter.
Move it ~10 meters away.
Turn off TX(Failsafe).
It should now increase throttle to start climb and return.
If it behaves like that you can do it with props next.
PatrikE wrote:The way it disarms in the video is a sign on that it's Home and landed.
You need to move the copter away from Home Position before it activates a RTH.
Make a test without propellers.
Arm the Copter.
Move it ~10 meters away.
Turn off TX(Failsafe).
It should now increase throttle to start climb and return.
If it behaves like that you can do it with props next.
Code: Select all
/******** Failsafe settings ********************/
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
for best results. This value is depended from your configuration, AUW and some other params. Next, afrer FAILSAFE_OFF_DELAY the copter is disarmed,
and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
#define FAILSAFE // uncomment to activate the failsafe function
#define FAILSAFE_DELAY 5 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
#define FAILSAFE_OFF_DELAY 2500 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
/***************** Failsafe descending to the ground by BARO *********************************/
/* For vario-controlled descending instead of having a fix throttle value, uncomment FAILSAFE_ALT_MODE. This allows to descend with preset vario.
When flying on high altitudes, and would like to descend faster than apply FAILSAFE_SAFE_ALT and FAILSAFE_FAST_VARIO.
This case will let copter descend faster from high altitude till reach the safety altitude, after will slow down to slow vario.
If you have GPS and would like to have RTH activated when in failsafe, uncomment FAILSAFE_RTH_MODE. Please note that in this case FAILSAFE_ALT_MODE doesn't have to be uncommented,
if GPS signal is weak, failsafe will work in FAILSAFE_ALT_MODE.
Both with work only with FAILSAFE uncommented! Also Please note that both modes will work even if SUPPRESS_BARO_ALTHOLD is uncommented, so you can still save some space with better failsafe alt handling!
Please note that FAILSAE_OFF_DELAY is still active for security reasons, so set up long time enough to be able to RTH before this timer ends because motors will stop!!!*/
//#define FAILSAFE_ALT_MODE // uncomment for descending with constant vario if in Failsafe - use with FAILSAFE and define the FAILSAFE_SLOW_VARIO
#define FAILSAFE_SLOW_VARIO 25 // in cm/s - slow desceding speed under SAFETY_ALT, this is default is SAFETY_ALT is not used. - maximum 250!!!
#define FAILSAFE_FAST_VARIO 80 // in cm/s - fast desceding speed over SAFETY_ALT, maximum 250!!!
#define FAILSAFE_SAFETY_ALT 200 // in cm - safety altitude, where to slow down descending before landing, in cm!!!
#define FAILSAFE_RTH_MODE // if GPS present and ready, copter starts RTH when signal lost. When signal is back, control is back again.
#define FAILSAFE_RTH_VARIO 100 // in cm/s - vario for RTH function for failsafe, maximum 250!!!
#define FAILSAFE_RTH_ALT 800 // in cm - minimum RTH altitude for failsafe. If copter is higher than this, it will keep altitude.
#define FAILSAFE_RTH_HOME 400 // in cm - home altitude for RTH, copter will descend to this altitude and wait.
#define FAILSAFE_RTH_DELAY 10 // in s - safety delay, after reaching HOME altitude, it'll land in FAILSAFE_ALT_MODE when safety delay terminates.
#define FAILSAFE_DETECT_TRESHOLD 900 //Failsafe threshold (in us)
/Moraes wrote:I believe the NHA failsafe solutions do autoland without gps
I think you need uncomment Failsade alt mode.