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Permalink Reply by Marc Puig Pasarrius on December 7, 2011 at 9:53am

Throttle went to 0 but APM didn't trigger RTL.

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DeveloperPermalink Reply by Marco Robustini on December 7, 2011 at 10:11am

Throttle 0 in "Stabilize" is just "motor off", the internal fs is not engaged!
Try to turn off the receiver (remove the power supply only to the receiver, but without props installed) when the motors are armed, only in this condition you can test if the built in failsafe work fine.
From the ArduPPM documentation:

------------------------------------------
    Failsafe mode
------------------------------------------

If a receiver servo channel is lost, the last know channel position is used.
If all contact with the receiver is lost, an internal failsafe is trigged after 250ms.

Default failsafe values are :

Throttle channel low (channel 3 = 900 us)

Mode Channel set to flight mode 4 (channel 5 = 1555 us)

All other channels set to midstick (1500 us)

-------------------------------------------------------------------

"If all contact with receiver is lost" is not "if you turn off your transmitter"... :-)
If you turn off the tx the receiver is powered and can't engage the fs of the ppm encoder!, but only the proprietary failsafe!!
In this case you must use the FS of your tx/rx system!
Remember: for the ppm enc fs you must set the "flight mode n.4" in "RTL", and the "ALT_HOLD_RTL" parameter to some meters, the default is "0" (i use "5" with baro enable).

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Permalink Reply by Marc Puig Pasarrius on December 7, 2011 at 11:16am

If I turn off the TX or the RX the output signal is the same: plain signal. I've attached the throttle signal of the receiver: throttle down (1156us pwm), throttle up(1972us pwm), turn off TX (nothing, plain signal).

So with my RX if I turn off the TX APM looses all contact because RX outputs plain signal, so it should trigger failsafe after 250ms. Am I right? 

Attachments:

• rx-test.wav, 1.2 MB

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DeveloperPermalink Reply by Marco Robustini on December 7, 2011 at 11:41am

Yes, correct... so stranger! :-(

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Permalink Reply by afernan on December 7, 2011 at 3:29pm

The built-in failsafe, didn't worked for me. Turning of the Tx, it does nothing. I've tested in flight, with good gps reception, and it should do rtl, but simply the motors went off when Tx was off.i use the one of my Tx.

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Permalink Reply by Augusto Sala on December 8, 2011 at 8:49am

The ArduPPM code keeps the last signal values of any channel if just one or some channels are missing.

The ArduPPM enters failsafe only when all the channels are missing. Most of the RX have a built in failsafe that keeps most channels active (at previous or preset values) and turn off just throttle and so the ArduPPM failsafe will never trigger. Just program the RX failsafe to stop sending PPM on all channels and it should work.

If you can't do it (like me) I've done an edited version of the ArduPPM firmware that only consider throttle for entering failsafe and has lot more failsafe intelligence (in the ArduPPM code). If anyone is interested I can attach it if Olivier is fine with this.

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DeveloperPermalink Reply by Marco Robustini on December 8, 2011 at 9:32am

I'm here! :-)
It's a modification of the latest ArduPPM Encoder V0.98?

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Permalink Reply by Augusto Sala on December 8, 2011 at 9:56am

V0.98??? I did the modification two weeks ago, it's a mod on the 0.9.86 version and I don't think there were too many differences with .87

Here is the discussion I did with Olivier:

http://diydrones.com/xn/detail/705844:Comment:717303

It also has some optional stuff on unused pins so you can add a buzzer and a strobo light.

Please be very careful 'cos there's a lot of defines to play with at compile time and you should understand what they do before using the code. I'll rite a very short readme.txt so you can have an idea and I'll post everything.

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Permalink Reply by Augusto Sala on December 8, 2011 at 11:07am

Ok, I published it in a new discussion so you guys can give it a try...

Here it is: http://diydrones.com/forum/topics/modified-arduppm-0-9-86

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Permalink Reply by Marc Puig Pasarrius on December 9, 2011 at 7:13am

I have a fix for this problem:

http://code.google.com/p/arducopter/issues/detail?id=300

I've tested it on the ground with a Corona RP8D1 receiver and it worked, I'm waiting for some feedback.

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Permalink Reply by Chopper on December 21, 2011 at 2:40pm

What is 

THR_FS_ACTION  -  2 means?

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Permalink Reply by Gustav Kuhn on December 7, 2011 at 1:21pm

Hi Jason, once again, thank you!

Does Mission Planner install the latest code ?

Regards,

Gustav

Edit:

Just flew my Standard Quad in my (small) lounge, with the code loaded by Mission Planner, the most stable I've seen it yet :-)

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