BlueROV-16: Solve the initialization problem

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我是靠谱客的博主虚心小蚂蚁，这篇文章主要介绍BlueROV-16: Solve the initialization problem，现在分享给大家，希望可以做个参考。

Group meeting: Reactive Control of Autonomous Drones.

Bharath taught me how to debug a python project for the whole afternoon. Learned a lot!

Try to solve the initialization problem by using:

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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:

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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)

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// Auto Pilot Modes enumeration
enum 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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// Auto Pilot Modes enumeration
enum 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
};