[Paparazzi-devel] Encoder setup procedure

[Adam Amos]

Hi All,

I am having major issues getting my encoder to work. This is my process for
setting up the encoder, can anybody see what i am doing wrong?

Software:

1) Airframe.xml make file section include: 
Code:
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA2) Radio.xml file
include all eight channels my file 
2) radio.xml file function names match those defined in airframe.xml
 
Hardware:
1) Remove JP1 to power servos & receiver from external power supply.
2) Observe 3Hz blinking LED when all 8 connections are made from the
receiver to the encoder.
3) Observe 1Hz blinking LED when a receiver connection is removed.

Results:
1) No values appearing the RC messages and obviously no manual RC control
see attached image RC.png
2) Values appearing and updating with RC inputs (controller stick movement)
in the PPM messages tab see attached image PPM.png

Anybody see anything? I have been stuck on this one for ages lol.

-Adam



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Today's Topics:

   1. Re: Xbee pro modules won't communicate (Felix Ruess)
   2. Re: Xbee pro modules won't communicate (Felix Ruess)


----------------------------------------------------------------------

Message: 1
Date: Tue, 10 Aug 2010 13:02:07 +0200
From: Felix Ruess <address@hidden>
Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
To: address@hidden, address@hidden
Message-ID:
        <address@hidden>
Content-Type: text/plain; charset=UTF-8

Eddie,

if you have your modems set to AT Command mode (and not API) you have
to keep the PPRZ serial transport (transparent mode).
It should say AT at the end of the function set descriptor in XCTU.
Also remember to hit write...

It would probably be good to test the modems (and hence their
configuration) without paparazzi. As long as that doesn't work it is
not a problem on the Paparazzi side.
If you have two XBee USB boards you could just hook them both up to
your PC and send try to send some data via a serial terminal (e.g.
minicom under Linux or whatever you are comfortable with). What you
type in at one end should come out at the other :-)

Or if you have a FTDI serial<->USB cable (or any other usable
serial<->USB converter for that matter) you could hook your Autopilot
up with this direct serial link instead of the modems to test your
Paparazzi setup.

About the regulator board: I guess you mean this one
http://www.sparkfun.com/commerce/product_info.php?products_id=9132 ?
Reading that I think you should connect the 5V to the regulator board
and it will regulate it down to 3.3V for the XBee. This might be
desirable since you might not want to put too much load on the 3.3V
rail of the Twog (depends on how much current your modem sinks).
Also the serial on the Twog is a 3.3V TTL UART, so you don't need the
regulator board for that. The UART is 5V tolerant so it should not
hurt to use it though.
But you don't need the regulator board, you can connect the XBee
directly to the Twog (Gnd, 3.3V, Tx, Rx), try without it.

About the configuration on the Paparazzi side.
For the Twog these would be the correct lines in the makefile section
(make sure you have UART1 set for the Twog):
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600

# TRANSPARENT MODE
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c


But as I said earlier my bet is on the XBee configuration...

Cheers, Felix


On Tue, Aug 10, 2010 at 11:11 AM, address@hidden
<address@hidden> wrote:
> Hey Eddie,
>
> Might take a look at the Ardupilot Manual which gives some instructions on
setting up XBP-09's (altough
> they MAY be Ardupilot specific, especially Baudrate)
>
> http://code.google.com/p/ardupilot/wiki/TelemetryPage
> They're also discussing issues with their modems over there in
> the discussion section and you might get some useful infos from the
comments...
>
>
http://www.diydrones.com/forum/topics/xbee-900-help?id=705844%3ATopic%3A1507
97&page=1
> You might take a look at this
> stuff, I don't have 900 Mhz version here so I can't test it myself, Sorry.
>
> Good Luck,
>
> Nico
>
>
> ----UrsprC<ngliche
> Nachricht----
> Von: address@hidden
> Datum: 10.08.2010 05:09
> An: "Paparazzi Mailing List"<address@hidden
> org>
> Betreff: RE: [Paparazzi-devel] Xbee pro modules won&#39;t communicate
>
>
> Hi Nathan, thank you for the information.
> Unfortunately, I don't have that type of modem, so, I don't think it will
work. B I have the Xbee Pro 900 MHz model
> XBP09-DP and it won't let me select which one is the end device or the
coordinator at. B It is a mesh system and it
> won't have an option to input a PAN number either. B I am already tired of
messing with this modem. B I checked the
> airframe files and it is exactly as it is supposed to be according to the
wiki and forums. B I am using the PPRZ
> Transport and not the XBEE in the airframe. B I already checked so many
times the baud rate in the airframe code and in
> XTCU to make sure. B Verified also the control panel.xml to match the baud
rate. B I changed pin locations also and
> nothing. B FYI, I am using the Sparkfun USB transport to connect the
ground modem and the Sparkfun regulator to connect
> the air modem. B For the regulator board, I have connected the 3.3V, GND,
DOUT, and DIN pins and plugged in directly to
> the TWOG. B It is very exhausting! B I ran out of options. B I might be in
the code. B Maybe I have to use the XBEE uplink
> instead of the PPRZ serial transport.
>
> Thanks.
>
> Eddie.
>
> From: address@hidden
> Subject: Re: [Paparazzi-devel] Xbee
> pro modules won't communicate
> Date: Tue, 10 Aug 2010 09:41:11 +1000
> To: address@hidden
>
>
>
> Hi Eddie,
> Please
> see this piece of information that David from PPZUAV sent me about
configuring my modems. After doing what he said,
> they just worked.
> I asked about the OS because the auto stuff isn't as supported on Linux.
So X-CTU will run under
> Linux but don't expect the auto-read of the modem config to work. So I ask
because if you're on Windows I don't need to
> bother explaining all the stuff for Linux.
>
> Just know the BPS default is 9600 so in X-CTU you must setup the PC
> interface to be using 9600. Don't change anything else. Then in the modem
config window set the modem type as XBP24-B I
> think. The only menu you need to change is the Modem and then the Function
set to the right of that. B There are 2. One
> for each.
> Wire Antenna: Select ZNET 2.5 ROUTER/END DEVICE AT
> RPSMA: Select ZNET 2.5 COORDINATOR AT
>
> The reason is you
> have modems capable of providing digi-mesh networking. You can fly
multiple aircraft at the same time. You would just
> set all the wire antenna ones as ROUTER/END DEVICE modems.
>
> The AT is important. Using the "TRANSPARENT" Protocol in
> the configuration means you're interfacing with the modem using standard
AT command set. As sent from the factory I
> think they are all END DEVICE but using non-AT (API) command set. So you
would need to change your aircraft config to
> support that. But then the FTDI / serial wouldn't work. So just set them
up as AT first. You're not going to need the
> API mode unless you fly multi-aircraft.
>
> Do the Write ... if you get a dialog read it. The LED should go out as you
> are writing to the modem. If when you plug in the modem you don't get a
light then you will for sure get a message.
> What you do is set everything. Then click write...after a few seconds a
dialogue pops up. Essentially just telling you
> to remove the modem and replace it. On placing it in the socket the
dialogue should go out and it should start
> programming.
>
> Kindest regards, Nathan AherneReddog TechnologyWeb:
www.reddog.com.auEmail:address@hidden: 0402 555 080
>
>
> On
> 10/08/2010, at 2:44 AM, Edixon Giraldo wrote:I am sorry for my ignorance,
but, how do you do that? B I am not familiar
> with the XCTU configuration software.
>
> Thanks.
>
> Eddie.
>
>> Date: Mon, 9 Aug 2010 18:14:23 +0200
>> From: address@hidden
> dateien.info
>> Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
>> To: address@hidden
>>
>>
> Hi,
>>
>> you have to "bind" the modules if you want to use the transparent mode
(what is suggested for the first
> trials..)
>> So go to CTU and set the number of the other module as destination
adress. The same for the other module
> respectively.
>>
>> Then they act just like a serial cable.
>>
>> Marc
>>
>> -------- Original-Nachricht --------
>> >
> Datum: Mon, 9 Aug 2010 10:37:31 -0500
>> > Von: Edixon Giraldo <address@hidden>
>> > An: "address@hidden
> org" <address@hidden>
>> > Betreff: Re: [Paparazzi-devel] Xbee pro modules won\'t communicate
>>
>> > No, I
> have not touched the firmware. I have no idea what is wrong then.
>> > Thanks.
>> >
>> > Sent from my iPhone
>> >
>> > On
> Aug 9, 2010, at 10:29 AM, Felix Ruess <address@hidden> wrote:
>> >
>> > > then it should work out of the box...
> no coordinator needed.
>> > > unless you already flashed a different firmware.
>> > >
>> > > On Mon, Aug 9, 2010 at 5:11
> PM, Edixon Giraldo <address@hidden>
>> > wrote:
>> > >> I have the xbee pro 802.15.4
>> > >>
>> > >> Sent from my
> iPhone
>> > >>
>> > >> On Aug 9, 2010, at 9:59 AM, Felix Ruess <address@hidden>
wrote:
>> > >>
>> > >>> Hi,
>> >
>>>>
>> > >>> the configuration (coordinator needed or not) you need depends on
>> > >>> which version exactly you have.
>
>> > >>>
>> > >>> Basically two different hardware/software stacks:
>> > >>> Digi XBee Pro 802.15.4 and Digi XBee Pro ZB
>
>> > >>>
>> > >>> See http://paparazzi.enac.fr/wiki/Modemsfor that also
>> > >>>
>> > >>> Cheers, Felix
>> > >>>
>> > >>> On Mon,
> Aug 9, 2010 at 4:43 PM, maq <address@hidden> wrote:
>> > >>>> Did you already check out this guide? I used it
> successfully a few
>> > weeks
>> > >>>> ago.
>> > >>>>
>> > >>>> http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee> > >>>>
>> > >>>>
>> > >>>> Am 09.08.2010 um 16:28
> schrieb Edixon Giraldo:
>> > >>>>
>> > >>>>> Hi, I have been working with this for hours and cannot make the
xbee
>> >
>>>>>> modules to communicate with each other. I am very new at this,
>> > therefore, I
>> > >>>>> am not very familiar on
> bow to set them up to make one the
>> > coordinator and
>> > >>>>> the other one the server. Any ideas on how to do this
> in XTCU? I did
>> > find
>> > >>>>> some instructions on how to do this, but, it was not clear to me.
It
>> > seems
>> >
>>>>>> that you have to type some commands on a terminal. I have also been
>> > trying
>> > >>>>> to run range tests and
> all, but, it is not successful.
>> > >>>>> Any help will be greatly appreciated.
>> > >>>>>
>> > >>>>> Thanks.
>> > >>>>>
>
>> > >>>>> Eddie.
>> > >>>>>
>> > >>>>> Sent from my iPhone
>> > >>>>> _______________________________________________
>> >
>>>>>> Paparazzi-devel mailing list
>> > >>>>> address@hidden
>> > >>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >>>>
>> > >>>>
>> > >>>>
> _______________________________________________
>> > >>>> Paparazzi-devel mailing list
>> > >>>> address@hidden
> org
>> > >>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >>>>
>> > >>>
>> > >>>
> _______________________________________________
>> > >>> Paparazzi-devel mailing list
>> > >>> address@hidden
>
>> > >>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >>>
>> > >>
>> > >>
> _______________________________________________
>> > >> Paparazzi-devel mailing list
>> > >> address@hidden
>>
>> >> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >>
>> > >
>> > >
> _______________________________________________
>> > > Paparazzi-devel mailing list
>> > > address@hidden
>> >
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >
>> >
>> >
> _______________________________________________
>> > Paparazzi-devel mailing list
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>> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel>
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------------------------------

Message: 2
Date: Tue, 10 Aug 2010 13:05:28 +0200
From: Felix Ruess <address@hidden>
Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
To: address@hidden
Message-ID:
        <address@hidden>
Content-Type: text/plain; charset=UTF-8

also note what is says on the Sparkfun page
http://www.sparkfun.com/commerce/product_info.php?products_id=9097 :
Some users have found that the XBee-PRO 900 cannot be used with the
XBee Explorer Regulated. A work around that many users have found is
to bypass diode D1 on the Explorer.

Cheers, Felix

On Tue, Aug 10, 2010 at 1:02 PM, Felix Ruess <address@hidden> wrote:
> Eddie,
>
> if you have your modems set to AT Command mode (and not API) you have
> to keep the PPRZ serial transport (transparent mode).
> It should say AT at the end of the function set descriptor in XCTU.
> Also remember to hit write...
>
> It would probably be good to test the modems (and hence their
> configuration) without paparazzi. As long as that doesn't work it is
> not a problem on the Paparazzi side.
> If you have two XBee USB boards you could just hook them both up to
> your PC and send try to send some data via a serial terminal (e.g.
> minicom under Linux or whatever you are comfortable with). What you
> type in at one end should come out at the other :-)
>
> Or if you have a FTDI serial<->USB cable (or any other usable
> serial<->USB converter for that matter) you could hook your Autopilot
> up with this direct serial link instead of the modems to test your
> Paparazzi setup.
>
> About the regulator board: I guess you mean this one
> http://www.sparkfun.com/commerce/product_info.php?products_id=9132 ?
> Reading that I think you should connect the 5V to the regulator board
> and it will regulate it down to 3.3V for the XBee. This might be
> desirable since you might not want to put too much load on the 3.3V
> rail of the Twog (depends on how much current your modem sinks).
> Also the serial on the Twog is a 3.3V TTL UART, so you don't need the
> regulator board for that. The UART is 5V tolerant so it should not
> hurt to use it though.
> But you don't need the regulator board, you can connect the XBee
> directly to the Twog (Gnd, 3.3V, Tx, Rx), try without it.
>
> About the configuration on the Paparazzi side.
> For the Twog these would be the correct lines in the makefile section
> (make sure you have UART1 set for the Twog):
> ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600
>
> # TRANSPARENT MODE
> ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=Uart1
> -DDATALINK=PPRZ -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
> ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
>
>
> But as I said earlier my bet is on the XBee configuration...
>
> Cheers, Felix
>
>
> On Tue, Aug 10, 2010 at 11:11 AM, address@hidden
> <address@hidden> wrote:
>> Hey Eddie,
>>
>> Might take a look at the Ardupilot Manual which gives some instructions
on setting up XBP-09's (altough
>> they MAY be Ardupilot specific, especially Baudrate)
>>
>> http://code.google.com/p/ardupilot/wiki/TelemetryPage
>> They're also discussing issues with their modems over there in
>> the discussion section and you might get some useful infos from the
comments...
>>
>>
http://www.diydrones.com/forum/topics/xbee-900-help?id=705844%3ATopic%3A1507
97&page=1
>> You might take a look at this
>> stuff, I don't have 900 Mhz version here so I can't test it myself,
Sorry.
>>
>> Good Luck,
>>
>> Nico
>>
>>
>> ----UrsprC<ngliche
>> Nachricht----
>> Von: address@hidden
>> Datum: 10.08.2010 05:09
>> An: "Paparazzi Mailing List"<address@hidden
>> org>
>> Betreff: RE: [Paparazzi-devel] Xbee pro modules won&#39;t communicate
>>
>>
>> Hi Nathan, thank you for the information.
>> Unfortunately, I don't have that type of modem, so, I don't think it will
work. B I have the Xbee Pro 900 MHz model
>> XBP09-DP and it won't let me select which one is the end device or the
coordinator at. B It is a mesh system and it
>> won't have an option to input a PAN number either. B I am already tired
of messing with this modem. B I checked the
>> airframe files and it is exactly as it is supposed to be according to the
wiki and forums. B I am using the PPRZ
>> Transport and not the XBEE in the airframe. B I already checked so many
times the baud rate in the airframe code and in
>> XTCU to make sure. B Verified also the control panel.xml to match the
baud rate. B I changed pin locations also and
>> nothing. B FYI, I am using the Sparkfun USB transport to connect the
ground modem and the Sparkfun regulator to connect
>> the air modem. B For the regulator board, I have connected the 3.3V, GND,
DOUT, and DIN pins and plugged in directly to
>> the TWOG. B It is very exhausting! B I ran out of options. B I might be
in the code. B Maybe I have to use the XBEE uplink
>> instead of the PPRZ serial transport.
>>
>> Thanks.
>>
>> Eddie.
>>
>> From: address@hidden
>> Subject: Re: [Paparazzi-devel] Xbee
>> pro modules won't communicate
>> Date: Tue, 10 Aug 2010 09:41:11 +1000
>> To: address@hidden
>>
>>
>>
>> Hi Eddie,
>> Please
>> see this piece of information that David from PPZUAV sent me about
configuring my modems. After doing what he said,
>> they just worked.
>> I asked about the OS because the auto stuff isn't as supported on Linux.
So X-CTU will run under
>> Linux but don't expect the auto-read of the modem config to work. So I
ask because if you're on Windows I don't need to
>> bother explaining all the stuff for Linux.
>>
>> Just know the BPS default is 9600 so in X-CTU you must setup the PC
>> interface to be using 9600. Don't change anything else. Then in the modem
config window set the modem type as XBP24-B I
>> think. The only menu you need to change is the Modem and then the
Function set to the right of that. B There are 2. One
>> for each.
>> Wire Antenna: Select ZNET 2.5 ROUTER/END DEVICE AT
>> RPSMA: Select ZNET 2.5 COORDINATOR AT
>>
>> The reason is you
>> have modems capable of providing digi-mesh networking. You can fly
multiple aircraft at the same time. You would just
>> set all the wire antenna ones as ROUTER/END DEVICE modems.
>>
>> The AT is important. Using the "TRANSPARENT" Protocol in
>> the configuration means you're interfacing with the modem using standard
AT command set. As sent from the factory I
>> think they are all END DEVICE but using non-AT (API) command set. So you
would need to change your aircraft config to
>> support that. But then the FTDI / serial wouldn't work. So just set them
up as AT first. You're not going to need the
>> API mode unless you fly multi-aircraft.
>>
>> Do the Write ... if you get a dialog read it. The LED should go out as
you
>> are writing to the modem. If when you plug in the modem you don't get a
light then you will for sure get a message.
>> What you do is set everything. Then click write...after a few seconds a
dialogue pops up. Essentially just telling you
>> to remove the modem and replace it. On placing it in the socket the
dialogue should go out and it should start
>> programming.
>>
>> Kindest regards, Nathan AherneReddog TechnologyWeb:
www.reddog.com.auEmail:address@hidden: 0402 555 080
>>
>>
>> On
>> 10/08/2010, at 2:44 AM, Edixon Giraldo wrote:I am sorry for my ignorance,
but, how do you do that? B I am not familiar
>> with the XCTU configuration software.
>>
>> Thanks.
>>
>> Eddie.
>>
>>> Date: Mon, 9 Aug 2010 18:14:23 +0200
>>> From: address@hidden
>> dateien.info
>>> Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
>>> To: address@hidden
>>>
>>>
>> Hi,
>>>
>>> you have to "bind" the modules if you want to use the transparent mode
(what is suggested for the first
>> trials..)
>>> So go to CTU and set the number of the other module as destination
adress. The same for the other module
>> respectively.
>>>
>>> Then they act just like a serial cable.
>>>
>>> Marc
>>>
>>> -------- Original-Nachricht --------
>>> >
>> Datum: Mon, 9 Aug 2010 10:37:31 -0500
>>> > Von: Edixon Giraldo <address@hidden>
>>> > An: "address@hidden
>> org" <address@hidden>
>>> > Betreff: Re: [Paparazzi-devel] Xbee pro modules won\'t communicate
>>>
>>> > No, I
>> have not touched the firmware. I have no idea what is wrong then.
>>> > Thanks.
>>> >
>>> > Sent from my iPhone
>>> >
>>> > On
>> Aug 9, 2010, at 10:29 AM, Felix Ruess <address@hidden> wrote:
>>> >
>>> > > then it should work out of the box...
>> no coordinator needed.
>>> > > unless you already flashed a different firmware.
>>> > >
>>> > > On Mon, Aug 9, 2010 at 5:11
>> PM, Edixon Giraldo <address@hidden>
>>> > wrote:
>>> > >> I have the xbee pro 802.15.4
>>> > >>
>>> > >> Sent from my
>> iPhone
>>> > >>
>>> > >> On Aug 9, 2010, at 9:59 AM, Felix Ruess <address@hidden>
wrote:
>>> > >>
>>> > >>> Hi,
>>> >
>>>>>
>>> > >>> the configuration (coordinator needed or not) you need depends on
>>> > >>> which version exactly you have.
>>
>>> > >>>
>>> > >>> Basically two different hardware/software stacks:
>>> > >>> Digi XBee Pro 802.15.4 and Digi XBee Pro ZB
>>
>>> > >>>
>>> > >>> See http://paparazzi.enac.fr/wiki/Modemsfor that also
>>> > >>>
>>> > >>> Cheers, Felix
>>> > >>>
>>> > >>> On Mon,
>> Aug 9, 2010 at 4:43 PM, maq <address@hidden> wrote:
>>> > >>>> Did you already check out this guide? I used it
>> successfully a few
>>> > weeks
>>> > >>>> ago.
>>> > >>>>
>>> > >>>> http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee> > >>>>
>>> > >>>>
>>> > >>>> Am 09.08.2010 um 16:28
>> schrieb Edixon Giraldo:
>>> > >>>>
>>> > >>>>> Hi, I have been working with this for hours and cannot make the
xbee
>>> >
>>>>>>> modules to communicate with each other. I am very new at this,
>>> > therefore, I
>>> > >>>>> am not very familiar on
>> bow to set them up to make one the
>>> > coordinator and
>>> > >>>>> the other one the server. Any ideas on how to do this
>> in XTCU? I did
>>> > find
>>> > >>>>> some instructions on how to do this, but, it was not clear to
me. It
>>> > seems
>>> >
>>>>>>> that you have to type some commands on a terminal. I have also been
>>> > trying
>>> > >>>>> to run range tests and
>> all, but, it is not successful.
>>> > >>>>> Any help will be greatly appreciated.
>>> > >>>>>
>>> > >>>>> Thanks.
>>> > >>>>>
>>
>>> > >>>>> Eddie.
>>> > >>>>>
>>> > >>>>> Sent from my iPhone
>>> > >>>>> _______________________________________________
>>> >
>>>>>>> Paparazzi-devel mailing list
>>> > >>>>> address@hidden
>>> > >>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel> > >>>>
>>> > >>>>
>>> > >>>>
>> _______________________________________________
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End of Paparazzi-devel Digest, Vol 77, Issue 14
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