Android: go-nogo checks

[peabody124]

I'm thinking of making a screen that checks a few things before flights and provides a go-nogo set of lights. Soliciting ideas for good checks.

• Near home location (<15 m)
  
• VelocityActual  < 0.1 m/s in each axis
  
• Attitude within 10 deg of level and not moving
• If battery enabled, above threshold
• If navigation enabled good GPS lock and EKF enabled (although you can't arm regardless on this one)
• Compass and heading estimate in reasonable alignment and not rotating
• Waypoints all within a certain distance of home

I can also add an icon to indicate the overall go/nogo on the top bar when you are disarmed.

Thoughts?

[José Eduardo S. C. Xavier]

That sounds good but doesn't know if the first point is really necessary. I think would be great if we can select what checks to do.

2013/10/24 peabody124 <peabo...@gmail.com>

I'm thinking of making a screen that checks a few things before flights and provides a go-nogo set of lights. Soliciting ideas for good checks.

• Near home location (<15 m)
  
• VelocityActual  < 0.1 m/s in each axis
  
• Attitude within 10 deg of level and not moving
• If battery enabled, above threshold
• If navigation enabled good GPS lock and EKF enabled (although you can't arm regardless on this one)
• Compass and heading estimate in reasonable alignment and not rotating

I can also add an icon to indicate the overall go/nogo on the top bar when you are disarmed.

Thoughts?

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[Carsten Böhme]

The first point is VERY necessary, believe me! Nothing bad happened because it was a line of sight test. Option to disable the check is a good idea.

[Abaloney]

Great idea!

If this is to be a "pre-flight" check then a few manual checks could be useful. eg

• Tx battery charge above threshold
• Mechanical check complete (nuts & bolts, connectors, strain relief, etc.)
• Flight entered in log book
• Verify failsafe actions are suitable (for the future) eg.
• Loss of radio link for 5 seconds -> Do something. eg PH
• Loss of radio link for 30 seconds -> Do something else eg. RTL and then PH
• Loss of GPS for 5 seconds -> Descend slowly
• Low battery voltage -> 
• Pressure sensor vs GPS altitude error too high ->

Other automated checks:

• Waypoints are within defined radius (to prevent erroneous waypoints eg. (0,0))

[peabody124]

Yeah with the home location you could see it was more than that (and I'd probably make it say the distance).  It's relevant because remember our behavior (at least for now) is return to HOME and not to LAUNCH.  So it confirms that RTH will bring it back towards you. Of course with the android app you can also tell it to return to tablet.

I wasn't intending for this to do anything to prevent you taking off - although it could start alarming if you arm while any nogo is triggered. We can also have additional manual checks. I'd prefer to start simple though and then expand.

Right now we don't have multiple failsafe options (just fall) but that would be good in the future when we have it.