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[Paparazzi-devel] Tiny v2.11 - Programming help required

From: Ben Paratz
Subject: [Paparazzi-devel] Tiny v2.11 - Programming help required
Date: Fri, 5 Sep 2008 08:17:59 -0400


I have a Tiny v2.11 autopilot with all the hardware needed for autonomous flight. I have started on the programming, but have run into a few difficulties.

I have installed all the hardware in my aircraft, but have not gotten any further than that succesfully. I am meant to be demonstrating autonomous flight a week from now, so it would be really great if I could get the autopilot fully working by then.

I am new to Linux, and have run into some problems regarding the programming. It would be extremely helpful if you could provide some assistance. I am using Ubuntu 8.04.1 - Hardy Heron

I have been studying the Wiki and following it very closely.

This is what I need help with:

- Installing the drivers for the radio modem (the ground-station modem. It plugs into the USB port and grabs the serial signals. I'm sure you know all about this... The readme file that came with it says that I need to compile the driver into a 'Loadable Kernel Module' but I am unsure how to do this. The modem I am using is a Digi (Maxstream) 9XTend operating on 900MHz. I have been told that I may not need to install the driver, but can you please advise me on what to do.

- Configuring the rc radio settings: I am using a 6-channel JR Radio. I have found (using a scope) that my JR R700 7-channel receiver outputs the ppm signal through the 'signal' pin in the battery connector. I can attach a picture of the signal if you want. Also, how do you choose which channel determines the mode? (Auto 1, Auto 2, Manual).

- Configuring the airframe file: I have had a go at making my own airframe file (following the wiki), but are not sure if it is correct. I have pasted the code at the bottom. My airframe is very simple: A 3-Channel Easystar. It also hope to be able to trigger a servo for controlling the shutter on a camera at a set position, but I will keep it simple and focus on achieving autonomous flight first.

It would really be great if you could help me get this working within the next week.

Thankyou very much,


Here is my airframe code:

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="EASYSTAR">
 <!-- tiny v2.11 airframe -->

<!-- commands section -->
    <servo name="THROTTLE"  no="0" min="1000" neutral="1500" max="2000"/>
    <servo name="RUDDER"  no="2" min="1000" neutral="1500" max="2000"/>
    <servo name="ELEVATOR" no="6" min="1000" neutral="1500" min="2000"/>

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

    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>

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

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.6"/>
    <define name="MAX_PITCH" value="0.6"/>

  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_0"/>
    <define name="IR2" value="ADC_1"/>
    <define name="IR_TOP" value="ADC_6"/>


  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="-1"/>
    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="LATERAL_CORRECTION" value="1"/>
    <define name="LONGITUDINAL_CORRECTION" value="1"/>
    <define name="VERTICAL_CORRECTION" 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="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="5.5" unit="V"/>
  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="7" 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"/>
  <section name="PID">
    <define name="ROLL_PGAIN" value="5000."/>
    <define name="PITCH_OF_ROLL" value="0.25"/>
    <define name="PITCH_PGAIN" value="10000."/>
    <define name="MAX_ROLL" value="0.35"/>
    <define name="MAX_PITCH" value="0.35"/>
    <define name="MIN_PITCH" value="-0.35"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="CRUISE_THROTTLE" value="0.35"/>
  <section name="ALT" prefix="CLIMB_">
    <define name="PITCH_PGAIN" value="-0.05"/>
    <define name="PITCH_IGAIN" value="0.075"/>
    <define name="PGAIN" value="-0.01"/>
    <define name="IGAIN" value="0.1"/>
    <define name="MAX" value="1."/>
    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
    <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-0.4"/>
    <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="ROLL_PGAIN" value="5000."/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="PITCH_PGAIN" value="-9000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <!--  roll rate loop -->
    <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
    <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
    <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
    <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
    <define name="ROLL_RATE_IGAIN" value="0"/>
    <define name="ROLL_RATE_DGAIN" value="0"/>
    <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>


  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <define name="POWER_CTL_BAT_NOMINAL" value="6" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="-0.03"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
    <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="0.15" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
    <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="0.1"/>


  <section name="NAV">
    <define name="NAV_PITCH" value="0.0"/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0.2"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
    <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_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>

  <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="PPRZ"/>
    <define name="DEVICE_ADDRESS" value="...."/>

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.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20

ap.srcs += commands.c

ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c

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

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

ap.srcs += inter_mcu.c

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


ap.srcs += gps_ubx.c gps.c

ap.srcs += infrared.c estimator.c

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

ap.srcs += gyro.c

# Harware In The Loop


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

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