horizon-module.md

Horizon Module in MAVProxy

1. Connect to the vehicle using mavproxy.py --master=127.0.0.1:14550 --load-module="horizon,map,console".
2. Or after starting MAVProxy, module load MODULE_NAME, ex: module load horizon.
3. Let's take off the vehicle to the 50 meters:
   1. mode GUIDED
   2. arm throttle
   3. takeoff 50
4. Let's get back our vehicle to the ground using mode LAND.
5. Let's fly to a location in GUIDED mode using guided -35.36217477 149.16507393 50.
6. Let's change the mode to LOITER using mode LOITER.
7. By using rc X Y, MAVProxy periodically send RC Override to channel X with Y PWM value.
   1. rc 1 X overrides roll PWM with X value.
      1. X>1500 means roll right.
      2. X<1500 means roll left.
      3. X=1500 means no roll but still send RC Roll Override message.
   2. rc 2 X overrides pitch PWM with X value.
      1. X>1500 means pitch backward.
      2. X<1500 means pitch forward.
      3. X=1500 means no pitch but still send RC Pitch Override message.
   3. rc 3 X overrides throttle PWM with X value.
      1. X>1500 means gain altitude in LOITER mode.
      2. X<1500 means lower altitude in LOITER mode.
      3. X=1500 means maintain altitude in LOITER mode.
   4. rc 4 X overrides yaw PWM with X value.
      1. X>1500 means yaw clockwise.
      2. X<1500 means yaw counter-clockwise.
      3. X=1500 means no yaw but still send RC Yaw Override message.
8. In GUIDED mode, copter can process RC Yaw Override message.