Re: [Paparazzi-devel] Using Paparazzi board as failsafe

[Nathan Aherne]

Hi Felix,

Sorry I should have said I was compiling the sim in my other emails.

Thanks for fixing this up and thank you so much for your help!

Kindest regards,
 
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080

On 27/09/2010, at 1:13 AM, Felix Ruess wrote:

> Oh, you were compiling the sim and not the ap which should have worked 
> already.
> 
> My bad! Forgot to test the sim.
> Fixed now...
> 
> Sorry about that!
> 
> Cheers, Felix
> 
> On Sun, Sep 26, 2010 at 1:29 PM, Nathan Aherne <address@hidden> wrote:
>> Forgot to say the error I was getting:
>> 
>> CC 
>> /home/nathanaherne/paparazzi3/var/Hopper/sim/modules/servo_switch/servo_switch.o
>> modules/servo_switch/servo_switch.c: In function ‘servo_switch_periodic’:
>> modules/servo_switch/servo_switch.c:37: warning: i
>> 
>> This is all that comes out now.
>> 
>> Kindest regards,
>> 
>> Nathan Aherne
>> Email: address@hidden
>> Mob: 0402 555 080
>> 
>> On 26/09/2010, at 8:43 PM, Nathan Aherne wrote:
>> 
>>> Hi Felix,
>>> 
>>> I have done what you have said, I checked you guide at least 10 times to 
>>> make sure I didn't miss anything. See my airframe file below:
>>> 
>>> <airframe name="Island Hopper TWOG 1">
>>> 
>>>  <modules main_freq="60">
>>>    <load name="servo_switch.xml">
>>>      <param name="SERVO_SWITCH_ON_VALUE"  value="1000"/>
>>>      <param name="SERVO_SWITCH_OFF_VALUE" value="2000"/>
>>>      <param name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
>>>    </load>
>>>  </modules>
>>> 
>>>  <servos>
>>>    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
>>>    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
>>>    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
>>>    <servo name="SWITCH"       no="7" min="1000" neutral="1500" max="2000"/>
>>>  </servos>
>>> 
>>> This is how I call the function
>>>   <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
>>>      <call fun="ServoSwitchOn()"/>
>>>    </block>
>>> 
>>> 
>>> 
>>> 
>>> 
>>> Kindest regards,
>>> 
>>> Nathan Aherne
>>> Email: address@hidden
>>> Mob: 0402 555 080
>>> 
>>> On 26/09/2010, at 8:04 PM, Felix Ruess wrote:
>>> 
>>>> Hi Nathan,
>>>> 
>>>> By default the servo_switch module looks for a servo called SWITCH.
>>>> So you have to either define a servo named SWITCH or set a different
>>>> servo like I indicated before.
>>>> e.g. in my airframe file I have:
>>>> <servos>
>>>>   ....
>>>>   <servo name="SWITCH" no="7" min="1000" neutral="1500" max="2000"/>
>>>> </servos>
>>>> 
>>>> 
>>>> The switch on value is 2000us and switch off is 1000us by DEFAULT.
>>>> If you want to use a different servo/values you can set that in the
>>>> modules section, e.g. for a servo named KILL:
>>>> <load name="servo_switch.xml">
>>>>    <param name="SERVO_SWITCH_ON_VALUE"  value="1100"/>
>>>>    <param name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
>>>>    <param name="SERVO_SWITCH_SERVO"     value="SERVO_KILL"/>
>>>> </load>
>>>> 
>>>> Of course you only have to set these parameters here If you do not
>>>> want to use the DEFAULT servo (SWITCH) or the default on/off values.
>>>> <load name="servo_switch.xml"/>
>>>> 
>>>> In my airframe I use a switch which expects the on signal to be
>>>> reversed (on is short, off is long) and it was just an example of how
>>>> to override the default switch values.
>>>> 
>>>> Cheers, Felix
>>>> 
>>>> On Sun, Sep 26, 2010 at 7:30 AM, Nathan Aherne <address@hidden> wrote:
>>>>> I have also noticed that servo_switch.h contains this:
>>>>> 
>>>>> #ifndef SERVO_SWITCH_ON_VALUE
>>>>> #define SERVO_SWITCH_ON_VALUE 2000
>>>>> #endif
>>>>> #ifndef SERVO_SWITCH_OFF_VALUE
>>>>> #define SERVO_SWITCH_OFF_VALUE 1000
>>>>> 
>>>>> This seems to be opposite of what I have set in the airframe file, is 
>>>>> this by design?
>>>>> 
>>>>> Kindest regards,
>>>>> 
>>>>> Nathan Aherne
>>>>> Email: address@hidden
>>>>> Mob: 0402 555 080
>>>>> 
>>>>> On 26/09/2010, at 1:30 PM, Nathan Aherne wrote:
>>>>> 
>>>>>> Ok so I have worked out the battery issue (forgot "make" in my haste to 
>>>>>> get it working).
>>>>>> 
>>>>>> I am getting an issue with servo_switch:
>>>>>> 
>>>>>> modules/servo_switch/servo_switch.c: In function ‘servo_switch_periodic’:
>>>>>> modules/servo_switch/servo_switch.c:37: warning: implicit declaration of 
>>>>>> function ‘SetServo’
>>>>>> modules/servo_switch/servo_switch.c:37: error: ‘SERVO_SWITCH’ undeclared
>>>>>> 
>>>>>> I tried calling both functions from the flight plan but both produce the 
>>>>>> issue.
>>>>>> 
>>>>>>>> <call fun="ServoSwitchOn()"/>
>>>>>>>> or
>>>>>>>> <call fun="ServoSwitchOff()"/>
>>>>>> 
>>>>>> I copy pasted the implementation you recommended. I cannot see how 
>>>>>> SERVO_SWITCH could be undeclared.
>>>>>> 
>>>>>> Kindest regards,
>>>>>> 
>>>>>> Nathan Aherne
>>>>>> Email: address@hidden
>>>>>> Mob: 0402 555 080
>>>>>> 
>>>>>> On 25/09/2010, at 11:02 PM, Felix Ruess wrote:
>>>>>> 
>>>>>>> you might also want to take a look at the EMAV2009.xml flight plan
>>>>>>> (which includes EMAV2009_safety.xml as a procedure)....
>>>>>>> 
>>>>>>> On Sat, Sep 25, 2010 at 2:57 PM, Felix Ruess <address@hidden> wrote:
>>>>>>>> Hi Nathan,
>>>>>>>> 
>>>>>>>> I just updated the servo_switch module a bit. I can't test it at the
>>>>>>>> moment, but it *should* work as advertised ;-)
>>>>>>>> 
>>>>>>>> Have a look at the mentor_tum.xml airframe... there it is used.
>>>>>>>> 
>>>>>>>> Now you only have to declare a servo in your airframe.xml that you
>>>>>>>> want to use. Previously you had to set up commands, command laws as
>>>>>>>> well.
>>>>>>>> 
>>>>>>>> By default the servo_switch module looks for a servo called SWITCH.
>>>>>>>> The switch on value is 2000us and switch off is 1000us by default.
>>>>>>>> If you want to use a different servo/values you can set that in the
>>>>>>>> modules section, e.g. for a servo named KILL:
>>>>>>>> <load name="servo_switch.xml">
>>>>>>>>    <param name="SERVO_SWITCH_ON_VALUE"  value="1100"/>
>>>>>>>>    <param name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
>>>>>>>>    <param name="SERVO_SWITCH_SERVO"     value="SERVO_KILL"/>
>>>>>>>> </load>
>>>>>>>> 
>>>>>>>> In your flight plan you just call the makro defined in servo_switch.h
>>>>>>>> <call fun="ServoSwitchOn()"/>
>>>>>>>> or
>>>>>>>> <call fun="ServoSwitchOff()"/>
>>>>>>>> respectively.
>>>>>>>> 
>>>>>>>> Cheers, Felix
>>>>>>>> 
>>>>>>>> On Sat, Sep 25, 2010 at 8:51 AM, Nathan Aherne <address@hidden> wrote:
>>>>>>>>> Hi All,
>>>>>>>>> 
>>>>>>>>> I have updated my paparazzi code and found the servo switch module, 
>>>>>>>>> this should work fine fore me. What I would like to know is how to 
>>>>>>>>> use this module (how to call servo_switch from within the flight 
>>>>>>>>> plan) and set the servo to either min or max. Also how do I declare 
>>>>>>>>> which servo output to use?
>>>>>>>>> 
>>>>>>>>> Kindest regards,
>>>>>>>>> 
>>>>>>>>> Nathan Aherne
>>>>>>>>> Email: address@hidden
>>>>>>>>> Mob: 0402 555 080
>>>>>>>>> 
>>>>>>>>> On 25/09/2010, at 3:37 PM, Nathan Aherne wrote:
>>>>>>>>> 
>>>>>>>>>> These are the relevant part of my flight plan in regards to the 
>>>>>>>>>> failsafe action. The rest is just some of the competition waypoints.
>>>>>>>>>> 
>>>>>>>>>> You will see I have implemented the Holdingpoint block so that the 
>>>>>>>>>> Kill block is not run. I would like to understand if there is an 
>>>>>>>>>> easier way to implement this crash failsafe than this, and output to 
>>>>>>>>>> a servo 1000ms or 2000ms. Thanks for your help in advance!
>>>>>>>>>> 
>>>>>>>>>>  <sector color="red" name="MissionBoundary">
>>>>>>>>>>    <corner name="MB1"/>
>>>>>>>>>>    <corner name="MB2"/>
>>>>>>>>>>    <corner name="MB3"/>
>>>>>>>>>>    <corner name="MB4"/>
>>>>>>>>>>    <corner name="MB5"/>
>>>>>>>>>>    <corner name="MB6"/>
>>>>>>>>>>    <corner name="MB7"/>
>>>>>>>>>>    <corner name="MB8"/>
>>>>>>>>>>    <corner name="MB9"/>
>>>>>>>>>>    <corner name="MB10"/>
>>>>>>>>>>    <corner name="MB11"/>
>>>>>>>>>>  </sector>
>>>>>>>>>> </sectors>
>>>>>>>>>> <exceptions>
>>>>>>>>>>    <exception cond="! InsideMissionBoundary(estimator_x, 
>>>>>>>>>> estimator_y)" deroute="Kill"/>
>>>>>>>>>> </exceptions>
>>>>>>>>>> <blocks>
>>>>>>>>>> <!-- FLIGHT PLAN -->
>>>>>>>>>>  <block name="Wait GPS">
>>>>>>>>>>    <set value="1" var="kill_throttle"/>
>>>>>>>>>>    <while cond="!GpsFixValid()"/>
>>>>>>>>>>  </block>
>>>>>>>>>>  <block name="Geo init">
>>>>>>>>>>    <while cond="LessThan(NavBlockTime(), 10)"/>
>>>>>>>>>>    <call fun="NavSetGroundReferenceHere()"/>
>>>>>>>>>>    <set value="0" var="estimator_flight_time"/>
>>>>>>>>>>  </block>
>>>>>>>>>>  <block name="Holding point">
>>>>>>>>>>    <call fun="NavSetWaypointHere(WP_STPT)"/>
>>>>>>>>>>    <set value="1" var="kill_throttle"/>
>>>>>>>>>>    <attitude roll="0" throttle="0" vmode="throttle"/>
>>>>>>>>>>  </block>
>>>>>>>>>>  <block key="c" name="KILL" strip_button="KILL" 
>>>>>>>>>> strip_icon="kill.png">
>>>>>>>>>>    <go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
>>>>>>>>>>  </block>
>>>>>>>>>> 
>>>>>>>>>> Kindest regards,
>>>>>>>>>> 
>>>>>>>>>> Nathan Aherne
>>>>>>>>>> Email: address@hidden
>>>>>>>>>> Mob: 0402 555 080
>>>>>>>>>> 
>>>>>>>>>> On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:
>>>>>>>>>> 
>>>>>>>>>>> We would like to use the Paparazzi as a failsafe in this years 
>>>>>>>>>>> outback challenge, plus use its other features to control and 
>>>>>>>>>>> report back certain tests and conditions. We are using the 
>>>>>>>>>>> paparazzi for this because it supplies so much more data than our 
>>>>>>>>>>> commercial autopilot.
>>>>>>>>>>> 
>>>>>>>>>>> The failsafe part just needs to output 2000ms or 1000ms on a servo 
>>>>>>>>>>> output if the aircraft goes over the mission boundary. I have 
>>>>>>>>>>> already built some code, but it seems there must be a simpler way 
>>>>>>>>>>> to get the autpilot to do this, could someone help me out with this 
>>>>>>>>>>> one please? Some sample code would be great and possibily an 
>>>>>>>>>>> explanation of what I need to initialise.
>>>>>>>>>>> 
>>>>>>>>>>> I am only wanting to run the GPS, Xbee and TWOG if possible.
>>>>>>>>>>> 
>>>>>>>>>>> Thanks in advance!
>>>>>>>>>>> 
>>>>>>>>>>> Kindest regards,
>>>>>>>>>>> 
>>>>>>>>>>> Nathan Aherne
>>>>>>>>>>> Email: address@hidden
>>>>>>>>>>> Mob: 0402 555 080
>>>>>>>>>>> 
>>>>>>>>>>> 
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>>>>>>>>>> 
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