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Copter: Stand-By mode for use with multiple flight controllers running in parallel #12441
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Love it! |
good! SO you guys want to add a redundand CPU architecture? |
I guess this is more a redundant CUBE architecture. I like it. A lot !!! |
Not just Cube, but yes, multiple Autopilots allowing for true redundancy. Leonard has done some awesome work in this area |
@amilcarlucas There is no aspect of this that is hardware dependent. It will enable a variety of methods and approaches to be further developed. This patch provides the most basic functionality required to have an autopilot in an armed and flying state while not in control. |
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Generally looks pretty good. A few issues related to naming and formatting and then a couple of questions.
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For some reason this failed: |
On Tue, 8 Oct 2019, Leonard Hall wrote:
For some reason this failed:
CI_BUILD_TARGET="sitltest-rover sitltest-sub sitltest-balancebot"
Try rebasing on master and pushing up again, please.
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Merged, thanks! |
Awesome!!! A new era in ardupilot begins! |
Hi all So, do a working (on paper, at least) architecture has been shared already, on top of standby mode? |
StandBy is the ability to have multiple flight controllers working together where only one of these is the controller in command (CIC). The "ride along" controllers can experience significant I-term build up as they may have different attitude solution compared to the CIC. The secondary controllers may also be placed in a more basic mode. For example, during an auto mission the secondary flight controller may be held in Loiter.
The functionality in this PR is designed to be a minimum impact standby functionality for ArduCopter.
The requirements of this capability are:
This will be the first introductory implementation of this functionality to facilitate development in this area.