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Changing the NavigationMode on flight #13

Open AnthonyLeonardoGracio opened 7 years ago

AnthonyLeonardoGracio commented 7 years ago

Document: UseCaseDevelopment/Layer1_MMS/RESSAC_muXAV_SystemRQ_MMS_SW_Incr1.doc Commit: 74aa074

Est-ce qu’on peut changer le NavigationMode durant le vol ? Car en cas de conflit sur le mode, il est dit que CP prévaut sur GS (6.9.4.1)

ledinot commented 7 years ago

Yes, the GS operator can change the mode, as many times as he wishes.

clairedross commented 7 years ago

Thanks. If I understand well, GS can change the mode as it wishes as long as CP has set the mode to RP is that is?

ledinot commented 7 years ago

Yes. The field operator can prevent GS from taking control over the drone by putting the switch on A position. In RP position, if GS sends no command, the mission evolves exactly like in A mode. If GS sets A mode (and drone’s switch on RP position), posterior GS commands are ignored by the drone, except RP command, which sets back the drone to listen to GS commands.

De : Claire Dross [mailto:notifications@github.com] Envoyé : jeudi 22 juin 2017 14:15 À : AdaCore/RESSAC_Use_Case Cc : Ledinot Emmanuel; Assign Objet : [Message publicitaire : ] Re: [AdaCore/RESSAC_Use_Case] Changing the NavigationMode on flight (#13)

Thanks. If I understand well, GS can change the mode as it wishes as long as CP has set the mode to RP is that is?

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clairedross commented 7 years ago

Ok, thanks, I understand much better now.

ledinot commented 7 years ago

Enough to close this issue ? (:-))

De : Claire Dross [mailto:notifications@github.com] Envoyé : vendredi 23 juin 2017 17:47 À : AdaCore/RESSAC_Use_Case Cc : Ledinot Emmanuel; Assign Objet : Re: [AdaCore/RESSAC_Use_Case] Changing the NavigationMode on flight (#13)

Ok, thanks, I understand much better now.

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clairedross commented 7 years ago

I guess you can close it if you think that explanations in 6.9.4 are clear enough:

  1. In case of conflict on the navigation mode, CP prevails over GS it was not clear to me that GS could switch the mode to A when CP had said RP...
ledinot commented 7 years ago

You are right, it is a subtle issue to be clarified. Because of the mechanical nature of the A/RP switch on CP, there is no way to move it after take-off.

When CP is on RP, it means “GS has authority”. If GS says “A” in flight, the drone obeys (freeze of Nav’s parameters) but can’t push the switch to sync it with the logical position set at GS level. So, CP prevails over GS on navigation mode is definitely true for A mode. For RP mode also, but in a much more disputable sense: “If I (CP) decided that you (GS) has control, then you have it, including on the RP/A switch, you have logical control over it, whatever its mechanical position is.

De : Claire Dross [mailto:notifications@github.com] Envoyé : vendredi 23 juin 2017 17:54 À : AdaCore/RESSAC_Use_Case Cc : Ledinot Emmanuel; Assign Objet : [Message publicitaire : ] Re: [AdaCore/RESSAC_Use_Case] Changing the NavigationMode on flight (#13)

I guess you can close it if you think that explanations in 6.9.4 are clear enough:

  1. In case of conflict on the navigation mode, CP prevails over GS it was not clear to me that GS could switch the mode to A when CP had said RP...

— You are receiving this because you were assigned. Reply to this email directly, view it on GitHubhttps://github.com/AdaCore/RESSAC_Use_Case/issues/13#issuecomment-310703312, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AVVweGQcymVzomZ7FgtPTKCPe-5cIu0qks5sG9-NgaJpZM4N_fXw.