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Re: [Paparazzi-devel] servos on reacting on the tiny 1.1

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] servos on reacting on the tiny 1.1
Date: Tue, 21 Oct 2008 18:35:21 +0200
User-agent: Icedove (X11/20080724)


the values sent to the servos can be displayed with the ACTUATORS message. This message is not sent by default. To get it, you have to set the telemetry mode of the fbw process in "debug" mode. Two solutions: - Add the telemetry_mode_Fbw variable to your settings file (similar to the telemetry_mode_Ap entry in tuning.xml file), and set the variable to 1 (through the GCS) while the board is running
- Just add


to the makefile section of the airframe file.

If these values are correct, then you will probably have to check the signal 
with a scope ...


C Kuo wrote:
hi guys

  i have currently playing around tiny 1.1 upto just before the test flight, and
have some problem with the servos and speed controller (they simply do get any

  I have test every link on the ground, wireless link is ok, gps is ok, even on
the GCS, when i change my throttle level on my r/c controller, it shows on the
GCS as well, but some how, the servos just don't react.

here is my airframe file on the setting
<airframe name="FunJetmm Tiny 1.1">

<!-- commands section -->
    <servo name="THROTTLE"      no="0" min="1550" neutral="1550" max="1900"/>
    <servo name="AILEVON_LEFT"  no="2" min="1100" neutral="1504" max="1900"/>
    <servo name="AILEVON_RIGHT" no="1" min="1900" neutral="1495" max="1100"/>

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

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

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="-0.45"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>

    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <set servo="THROTTLE" value="@THROTTLE"/>
    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile


ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
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_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c

and following is my r/c file

<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Futaba T6EXAP" data_min="900" data_max="2100" sync_min ="5000"
sync_max ="15000">
 <channel ctl="right_stick_horiz" function="ROLL"     max="1074" neutral="1520"
min="1942" average="0"/>
 <channel ctl="right_stick_vert" function="PITCH"    min="1109" neutral="1521"
max="1938" average="0"/>
 <channel ctl="left_stick_vert" function="THROTTLE" min="1107" neutral="1107"
max="1933" average="0"/>
 <channel ctl="left_stick_horiz" function="YAW"      min="1937" neutral="1524"
max="1103" average="0"/>
 <channel ctl="switch_L" function="GAIN1"     min="1100" neutral="1500"
max="3000" average="1"/>
 <channel ctl="switch_R" function="MODE"    min="1100" neutral="1500" max="1900"

Does any one have any idea?

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