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Re: Re: [Paparazzi-devel] No throttle in Auto2

From: address@hidden
Subject: Re: Re: [Paparazzi-devel] No throttle in Auto2
Date: Fri, 22 Aug 2008 04:16:33 GMT

As I recall, the default behavior is to not send data to the plane.  There is 
some parameter that must be added in order to enable sending.  I don't know the 
flag or where to put it though :(  I think it goes on the link line?

-- "cory barton" <address@hidden> wrote:
I added the datalink section from the previous email to the airframe
config, but it didn't make a difference. I still have communication
from the plane, but not able to send.  On the groundstation modem, the
tx light never lights up. The rx light is flashing constantly. I moved
all the waypoints, so I would expect the groundstation to try to send
that data to the airplane, but it seems to send nothing. I am using
the Flight address@hidden session for the GCS.

Here is the airframe config:

<!DOCTYPE airframe SYSTEM "airframe.dtd">

     NexStar EP RTF (
     Tiny 2.1 board (
     Tilted infrared sensor
     ADXRS300 Gyro
     XBee modem

<airframe name="NexStar EP">

<!-- commands section -->
    <servo name="MOTOR"    no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON"  no="2" min="1130" neutral="1500" max="1880"/>
    <servo name="ELEVATOR" no="6" min="1980" neutral="1515" max="1170"/>
    <servo name="RUDDER"   no="7" min="1980" neutral="1515" max="1170"/>

    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
    <axis name="YAW"      failsafe_value="0"/>

    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>
    <set command="YAW"      value="@YAW"/>
  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>

    <set servo="AILERON"  value="@ROLL"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <set servo="RUDDER"   value="@YAW"/>
    <set servo="MOTOR"  value="@THROTTLE"/>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.80"/><!-- about 45 degrees -->
    <define name="MAX_PITCH" value="0.6"/><!-- about 34 degrees -->

  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_1"/>
    <define name="IR2" value="ADC_2"/>
    <define name="IR_TOP" value="ADC_0"/>
    <define name="IR_NB_SAMPLES" value="16"/>

    <define name="GYRO_ROLL" value="ADC_5"/>
    <define name="GYRO_NB_SAMPLES" value="16"/>


  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="513"/>
    <define name="ADC_IR2_NEUTRAL" value="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>
 <section name="GYRO" prefix="GYRO_">
    <define name="ADC_ROLL_NEUTRAL" value="501.25"/>
    <define name="ADC_TEMP_NEUTRAL" value="476"/>
    <define name="ADC_TEMP_SLOPE" value="0"/>
    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
    <define name="ROLL_SCALE"
    <define name="ROLL_DIRECTION" value="-1."/>
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>

 <section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="XBEE"/>
    <define name="DEVICE_ADDRESS" value="...."/>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <!-- <define name="XBEE_INIT"
value="\"ATPL2\rATRN1\rATTT80\r\ATBD6\rATWR\r\""/> -->
    <!--<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>-->
    <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
    <define name="MIN_CIRCLE_RADIUS" value="50."/>
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="5.0" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="-0.04"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
   <define name="THROTTLE_SLEW" value="0.5"/>
  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-0.8"/>
    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
    <define name="PITCH_PGAIN" value="-10000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="ELEVATOR_OF_ROLL" value="2500"/>
    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
    <define name="ROLL_RATE_GAIN" value="-1500"/>
  <section name="NAV">
    <define name="NAV_PITCH" value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="20"/><!-- Altitude Error to
Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for
Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for
Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent
Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
  <section name="GYRO_GAINS">
    <define name="GYRO_MAX_RATE" value="200."/>
    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
    <define name="ALT_ROLL__PGAIN" value="1.0"/>
    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
    <define name="ROLL_RATE_IGAIN" value="0.0"/>
    <define name="ROLL_RATE_DGAIN" value="0.0"/>
  <section name="FAILSAFE" prefix="FAILSAFE_">
        <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
        <define name="HOME_RADIUS" value="100" unit="m"/>

 <section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="XBEE"/>
    <define name="DEVICE_ADDRESS" value="...."/>

 <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>

CONFIG = \"tiny_2_1.h\"

include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile


ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
main_fbw.c main_ap.c main.c

ap.srcs += commands.c

ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c

ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c

#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c

ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c

ap.srcs += inter_mcu.c

ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.srcs += gps_ubx.c gps.c latlong.c

ap.srcs += infrared.c estimator.c

ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c

ap.srcs += gyro.c nav_line.c
ap.srcs += nav_survey_rectangle.c
# chemotaxis.c anemotaxis.c discsurvey.c

########## Barometer (SPI)
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c

########## Chemo sensor (I2C)
#ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c

# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.srcs += nav_line.c nav_survey_rectangle.c

# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators

setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
-DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c
$(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c


On Thu, Aug 21, 2008 at 5:18 PM,  <address@hidden> wrote:
>> So I disconnected the rf modems, and tried using the ftdi cable, but
>> the behavior is exactly the same. I think based on the experience with
>> the usb modem that the gcs is not sending any messages. I am looking
>> for a way to watch the outgoing messages, but if anyone knows how,
>> please let me know.
> Do you have an XBee init in your airframe file (rebuild ap and restart
> ground station after change)?
>  <section name="DATALINK" prefix="DATALINK_">
>    <define name="DEVICE_TYPE" value="XBEE"/>
>    <define name="DEVICE_ADDRESS" value="...."/>
>  </section>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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