BlueROV-16: Solve the initialization problem
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Group meeting: Reactive Control of Autonomous Drones.
Bharath taught me how to debug a python project for the whole afternoon. Learned a lot!
def is_armable(self): return self.mode != 'INITIALISING' and self.gps_0.fix_type > 1 and self._ekf_predposhorizabs
After delete self.gps_0.fix_type > 1, it still does not work.
Check what self._ekf_predposhorizabs is:
self._ekf_predposhorizabs = (m.flags & ardupilotmega.EKF_PRED_POS_HORIZ_ABS) > 0
Delete either one of m.flags or ardupilotmega.EKF_PRED_POS_HORIZ_ABS, the vehicle is armable, but if they both exist, the vehicle is not.
Display the value: m.flags == 165 and ardupilotmega.EKF_PRED_POS_HORIZ_ABS == 512 (165 & 512 == 0)
// Auto Pilot Modes enumerationenum control_mode_t { STABILIZE = 0, // manual airframe angle with manual throttle ACRO = 1, // manual body-frame angular rate with manual throttle ALT_HOLD = 2, // manual airframe angle with automatic throttle AUTO = 3, // fully automatic waypoint control using mission commands GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands LOITER = 5, // automatic horizontal acceleration with automatic throttle RTL = 6, // automatic return to launching point CIRCLE = 7, // automatic circular flight with automatic throttle LAND = 9, // automatic landing with horizontal position control OF_LOITER = 10, // deprecated DRIFT = 11, // semi-automous position, yaw and throttle control SPORT = 13, // manual earth-frame angular rate control with manual throttle FLIP = 14, // automatically flip the vehicle on the roll axis AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains POSHOLD = 16, // automatic position hold with manual override, with automatic throttle BRAKE = 17, // full-brake using inertial/GPS system, no pilot input THROW = 18 // throw to launch mode using inertial/GPS system, no pilot input};
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