Hey folks,
-- Copter attempts to fly home using dead reckoning if the GPS quality deteriorates or an EKF failsafe triggers
--
-- CAUTION: This script only works for Copter 4.3 (and higher)
-- this script checks for low GPS quality and/or an EKF failsafe and if either occurs, flies in the last known direction towards home
--
-- DR_ENABLE : 1 = enabled, 0 = disabled
-- DR_ENABLE_DIST : distance from home (in meters) beyond which the dead reckoning will be enabled
-- DR_GPS_SACC_MAX : GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy.
-- DR_GPS_SAT_MIN : GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count.
-- DR_GPS_TRIGG_SEC : GPS checks must fail for this many seconds before dead reckoning will be triggered.
-- DR_FLY_ANGLE : lean angle (in degrees) during deadreckoning. Most vehicles reach maximum speed at 22deg
-- DR_FLY_ALT_MIN : min alt (above home in meters) during deadreckoning. zero to return at current alt
-- DR_FLY_TIMEOUT : timeout (in seconds). Vehicle will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout
-- DR_NEXT_MODE : flight mode vehicle will change to when GPS / EKF recovers or DR_FLY_TIMEOUT expires. Default is 6=RTL, see FLTMODE1 parameter description for list of flight mode number. Set to -1 to return to mode used before deadreckoning was triggered
-- How to use:
-- 1. set SCR_ENABLE = 1 to enable scripting (and reboot the autopilot)
-- 2. set SCR_HEAP_SIZE to 80000 or higher to allocate enough memory for this script
-- 3. set DR_ENABLE = 1 to enable dead reckoning
-- 4. optionally set DR_GPS_SACC_MAX and/or DR_GPS_SAT_MIN parameters to adjust how bad the GPS quality must be before triggering
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Arducopter version is V4.3.0
I am getting the same error - has anyone found the fix?
Yuri_Rage
January 4, 2023, 4:28am
4
1 Like
