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Re: [Paparazzi-devel] No throttle in Auto2

From: David Buzz Carlson
Subject: Re: [Paparazzi-devel] No throttle in Auto2
Date: Fri, 22 Aug 2008 11:45:10 +0300
User-agent: Thunderbird (X11/20080724)

Can anybody confirm this?  And if so, what is the parameter that needs set?


address@hidden wrote:
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="...."/>

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