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
show original
Provide the full output.
Hey,
is an error which I am getting in messages
This is not the entire output.
local stage1_flight_mode = nil -- flight mode vehicle was in during stage1 (may be used during recovery)
local stage2_start_time_ms -- system time stage2 started (level vehicle)
local stage3_start_time_ms -- system time stage3 started (deadreckon home)
local last_print_ms = 0 -- pilot update timer
local interval_ms = 100 -- update at 10hz
function update()
-- exit immediately if not enabled
if (enable:get() < 1) then
return update, 1000
end
-- determine if progress update should be sent to user
local now_ms = millis()
local update_user = false
if (now_ms - last_print_ms > 5000) then
last_print_ms = now_ms
update_user = true
end
This is getting the value of DR_ENABLE parameters.
I am having the same issue. It errors out with the same message all parameter value comparisons (including L139). How do I go about fixing this?
Yuri_Rage
January 4, 2023, 4:27am
6
Probably a version issue due to a new Parameter() constructor in the master branch.
Try the version from the Copter-4.3 branch:ardupilot/copter-deadreckon-home.lua at Copter-4.3 · ArduPilot/ardupilot (github.com)
And please do not post the same question more than once.
Ah ok - thanks. I ended up fixing it on my end by adjusting how the parameter value was read.copter-deadreckon-home.lua (17.5 KB)
