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Re: [Paparazzi-devel] radio control


From: David
Subject: Re: [Paparazzi-devel] radio control
Date: Thu, 11 Nov 2010 07:02:47 -0800

This is very good information. Thank you very much. I was powering everything 4 
servos, XBee XSC, IMU and Rx from the autopilot to save room. 

I will add a CC BEC for the 4 servos and Rx immediately.

David

On Nov 11, 2010, at 6:33 AM, Gareth Roberts <address@hidden> wrote:

> As Mark says it possible that the increase in control from ArduPilot could be 
> causing overdraw from the servos?
> Are you running the servos from a separate supply, not the 5V reg?
> We had a similar case where a reboot would occur only when all servos were 
> concurrently activated - which we didn't normally do during preflights!  We 
> ended up just rewiring so they drew from the BEC, and tied the grounds 
> together.
> After that everything was happy.
> 
> --G
> 
> 
> On Thu, 11 Nov 2010 14:06:42 -0000, <address@hidden> wrote:
> 
>> Hi David,
>> 
>> 
>> I have not flown in windy conditions. Only with a light breeze.
>> 
>> 
>> The normal behavior in the case of loss of GPS is for the autopilot to
>> use the failsafe roll, pitch and throttle settings defined in the
>> airframe file.  The resetting of the flight plan back to "Geo Init"
>> indicates that there was a power failure and the autopilot restarted.
>> This would cause the ArduIMU to re-calibrate itself in-flight (if the
>> ENABLE_AIR_START setting was set to the default value of 0 in the
>> ArduIMU configuration) resulting most likely in erratic behaviour.
>> 
>> 
>> Some food for thought.
>> 
>> 
>> Cheers,Mark
>> 
>> 
>> From: address@hidden
>> [mailto:address@hidden On
>> Behalf Of David Conger
>> Sent: Thursday, 11 November 2010 1:02 AM
>> To: address@hidden
>> Subject: Re: [Paparazzi-devel] radio control
>> 
>> 
>> Hi All, Hi Mark,
>> 
>> 
>> Interesting. I am very interested in the conditions you flew in. Calm?
>> Wind?
>> 
>> 
>> I just flew again today. Last night was perfect in zero wind. Today two
>> snap rolls into steep dives were observed for not apparent reason.
>> During the flight it also went to Geo-init and seemed to lose GPS signal
>> mid flight. The spins were during prolonged circles about 30 degrees to
>> the right. Then a snap to the left and spiral down. From the ground it
>> appeared the autopilot was not all that able to cope with the gusty
>> turbulent conditions.
>> 
>> 
>> I have logs and really would like to explain what happened. Is there a
>> graph I can plot from the logs to see the IMU behavior best? I think now
>> mounting the IMU directly against the u-blox module maybe a bad idea.
>> The GPS took a long time to get a fix and in flight lost
>> signal...sending he flight plan to the top in Geo Init ... and holding.
>> 
>> 
>> I have confidence this is a tuning or some issue that can be recovered
>> from. However I may fly only in calm conditions in the future. I do have
>> an onboard video I will post to YouTube so others can see the spins.
>> Here is the link: http://www.youtube.com/watch?v=cgOdE9ITyFY
>> 
>> 
>> Log of the flight. Take off in Manual. Then a switch to AUTO2 once level
>> with some altitude. It the plan goes quickly into the right handed
>> circle and about 1/3 the way around you see it go into a fast spiral to
>> the Left. I recover and fly a little in AUTO1 then go into AUTO2. It
>> picks up the circle again and after about 5sec it does the same thing
>> but I do not recover. The spin was too severe and fast for me to orient
>> and take control.
>> 
>> 
>> The Merlin survived with light damage. It will fly again after some
>> patches.
>> 
>> 
>> After replaying the logs I see the GPS resets and the plane goes to Geo
>> Init about 3 seconds after I recover from the first spin. The conditions
>> were windy but the airspeed indicator was pretty close in the estimation
>> this time. Maybe last night with zero wind it had more problems
>> determining the wind speed? I did notice it still had issues (not as
>> severe) with displaying the direction the aircraft was pointed but not
>> as bad as last night.
>> 
>> 
>> -David
>> 
>> On Nov 10, 2010, at 12:52 AM, address@hidden wrote:
>> 
>> 
>> 
>> 
>> 
>> Hi David,
>> 
>> That's great news and congratulations on your progress.
>> 
>> BTW, I have connected the ArduIMUv2 to my TWOG and put in my Funjet. It
>> flies great at an airspeed of  ~ 20m/s. I have not yet dared to try it
>> at 40 m/s!
>> 
>> Also, thanks to the ZHAW students for developing this great addon to the
>> Paparazzi system and to Reto for his efforts to make the Paparazzi
>> community aware of it.
>> 
>> Cheers, Mark
>> 
>> 
>> From: address@hidden
>> [mailto:address@hidden On
>> Behalf Of David Conger
>> Sent: Wednesday, 10 November 2010 4:46 AM
>> To: address@hidden
>> Subject: Re: [Paparazzi-devel] radio control
>> 
>> 
>> Hello all,
>> 
>> 
>> I have good news. Inexplicably the 3-pos switch started working. The
>> only think I could remember changing is removing the RUDDER entry in the
>> airframe file under the servo assignments. I discovered it working at
>> the flying field. I was going to go into AUTO by powering off the Tx and
>> MANUAL by powering on the Tx. I actually did this. Then to show my
>> partner the 3-pos switch was not working I toggled it and noticed it
>> actually did something. I don't mind happy surprises so I'm not going to
>> question it. It just works.
>> 
>> 
>> Unfortunately in this first flight the aircraft when put in AUTO1 would
>> sharply dive immediately. I tried at least 5-8 times all with the same
>> results. It was getting dark but I decided on a second flight. This time
>> I let the IMU calibrate for at least 30 seconds with the plan
>> horizontal. I took off and when I went to AUTO1 ... it flew. I dared try
>> AUTO2 and it worked!!! Stable flight. I couldn't let it fly long as it
>> was well past sunset and I could not allow it to go very far. However
>> absolutely AUTO1 and AUTO2 were stable.
>> 
>> 
>> Tomorrow we hope to fly some more during daylight but I wanted to just
>> report this good news.
>> 
>> 
>> -David
>> 
>> On Nov 9, 2010, at 4:01 PM, David Conger wrote:
>> 
>> 
>> 
>> 
>> 
>> 
>> Ah, ok, a bit closer.
>> 
>> 
>> This is probably due to my using the tuning_ins.xml file as suggested.
>> There are no MANUAL, AUTO1, AUTO2 defined in there that I can see.
>> Similar to BOOZ.
>> 
>> 
>> Is there documentation around the settings file? I would be a bit
>> nervous using the on/off switch on the Tx to control engaging the
>> autopilot on/off
>> 
>> 
>> I don't mind learning but I think this is not an issue with my having
>> ground connected to the ESC anymore.. :)
>> 
>> 
>> Regards,
>> 
>> David
>> 
>> On Nov 8, 2010, at 10:53 PM, Michel GORRAZ wrote:
>> 
>> 
>> 
>> 
>> 
>> 
>> Hi,
>> Nothing to do with you R/C issue, sorry, but noticed you've connected
>> the GND of PPM connector between ESC and Tiny.
>> You shouldn't do that because if for some reason the GND power cable of
>> ESC get loose (in flight or test), you will burn your Tiny.
>> (all motor current will pass thru the small cable, molex connector and
>> Tiny's PCB...)
>> 
>> @+
>> Michel
>> 
>> 2010/11/9 David Conger <address@hidden>
>> 
>> In case it is helpful to see an answer here's more details:
>> Aircraft: Multiplex Merlin
>> Autopilot: Tiny13
>> 4 servos (2x Aileron, Elev, Rudder) . Turnigy micro digital servos:
>> http://hobbycity.com/hobbyking/store/uh_viewItem.asp?idProduct=8511
>> Rx: Berg4L modified to output PPM to the autopilot
>> All servos connected to the autopilot (ppm, 5v, gnd)
>> ArduIMU v2 with SDC, SCL, GND, 5V connected to Autopilot and attached
>> (double sided tape) to the bottom of the Tiny13
>> MultiPlex power pack for motor and prop
>> 10A ESC (it was smaller in size than the 18A one that came from
>> Multiplex)..only GND and PPM connected to the Tiny13
>> 
>> 
>> 
>> My airframe file looks like:
>> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>> 
>> <!-- Merlin, Himax HC2212-1180
>>    Tiny 1.1
>>    ArduIMU Sensor
>>    XBee modem
>>    LEA 5H GPS
>> -->
>> 
>> <airframe name="Merlin 1">
>> 
>> <firmware  name="fixedwing">
>>       <target name="sim"      board="pc">
>>               <define name="AGR_CLIMB"/>
>>               <define name="LOITER_TRIM"/>
>>               <define name="ALT_KALMAN"/>
>>               <define name="WIND_INFO"/>
>>               <define name="WIND_INFO_RET"/>
>>       </target>
>> 
>>       <target name="ap"       board="tiny_1.1">
>>               <define name="AGR_CLIMB"/>
>>               <define name="LOITER_TRIM"/>
>>               <define name="ALT_KALMAN"/>
>>               <define name="WIND_INFO"/>
>>               <define name="WIND_INFO_RET"/>
>>               <define name="USE_I2C0"/>
>>       </target>
>> 
>>       <subsystem name="radio_control" type="ppm"/>
>>       <subsystem name="telemetry"     type="transparent"/>
>>       <subsystem name="control"/>
>>       <subsystem name="gps"           type="ublox_lea5h"/>
>>       <subsystem name="navigation"/>
>>       <subsystem name="i2c"/>
>> </firmware>
>> 
>> <firmware name="setup">
>>       <target name="tunnel"           board="tiny_1.1"/>
>>       <target name="usb_tunnel_0"     board="tiny_1.1"/>
>>       <target name="usb_tunnel_1"     board="tiny_1.1"/>
>>       <target name="setup_actuators"  board="tiny_1.1"/>
>> </firmware>
>> 
>> <modules>
>>       <load name="ins_arduimu.xml"/>
>> </modules>
>> 
>> <!-- commands section -->
>> <servos>
>>   <servo name="AILERON_RIGHT" no="3" min="1900" neutral="1500"
>> max="1100"/>
>>   <servo name="AILERON_LEFT"  no="6" min="1900" neutral="1500"
>> max="1100"/>
>>   <servo name="ELEVATOR"      no="2" min="1100" neutral="1500"
>> max="1900"/>
>>   <servo name="MOTOR"         no="1" min="1000" neutral="1000"
>> max="2000"/>
>>   <servo name="RUDDER"        no="0" min="1000" neutral="1000"
>> max="2000"/>
>> </servos>
>> 
>> <commands>
>>   <axis name="THROTTLE"  failsafe_value="0"/>
>>   <axis name="ROLL"      failsafe_value="0"/>
>>   <axis name="PITCH"     failsafe_value="0"/>
>> </commands>
>> 
>> <rc_commands>
>>   <set command="THROTTLE" value="@THROTTLE"/>
>>   <set command="ROLL"     value="@ROLL"/>
>>   <set command="PITCH"    value="@PITCH"/>
>> </rc_commands>
>> 
>> <section name="MIXER">
>>   <define name="AILERON_DIFF" value="0.8"/>
>> </section>
>> 
>> <command_laws>
>>   <set servo="MOTOR" value="@THROTTLE"/>
>>   <set servo="ELEVATOR" value="@PITCH"/>
>>   <let var="roll" value="@ROLL"/>
>>   <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) *
>> $roll"/>
>>   <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) *
>> $roll"/>
>> </command_laws>
>> 
>> <section name="AUTO1" prefix="AUTO1_">
>>   <define name="MAX_ROLL" value="0.85"/>
>>   <define name="MAX_PITCH" value="0.6"/>
>> </section>
>> 
>> <!--<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"/>
>> </section> -->
>> 
>> <section name="INS" prefix="INS_">
>>   <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>>   <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>> </section>
>> 
>> <section name="BAT">
>>   <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
>>   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
>>   <define name="CRITIC_BAT_LEVEL" value="10.3" unit="V"/>
>> </section>
>> 
>> <section name="MISC">
>>   <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
>>   <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
>>   <define name="MAXIMUM_AIRSPEED" value="18." 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="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
>> <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
>>   <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
>> 
>>   <define name="TRIGGER_DELAY" value="1."/>
>>   <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
>> </section>
>> 
>> 
>> <section name="VERTICAL CONTROL" prefix="V_CTL_">
>>   <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
>>   <!-- outer loop proportional gain -->
>>   <define name="ALTITUDE_PGAIN" value="-0.06"/>
>>   <!-- outer loop saturation -->
>>   <define name="ALTITUDE_MAX_CLIMB" value="2."/>
>> 
>>   <!-- auto throttle inner loop -->
>>   <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
>>   <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
>>   <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
>>   <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
>>   <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
>>   <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
>> unit="%/(m/s)"/>
>>   <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
>>   <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="-0.06"/>
>>   <define name="AUTO_PITCH_IGAIN" value="0.08"/>
>>   <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>
>> 
>> 
>> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
>>   <define name="COURSE_PGAIN" value="-1.0"/>
>>   <define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
>>   <define name="AILERON_OF_THROTTLE" value="0.0"/>
>>   <define name="PITCH_PGAIN" value="-9000."/>
>>   <define name="PITCH_DGAIN" value="1.5"/>
>> 
>>   <define name="ELEVATOR_OF_ROLL" value="1500"/>
>> 
>>   <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
>>   <define name="ROLL_RATE_GAIN" value="-2900"/-->
>> </section>
>> 
>> <section name="NAV">
>>   <define name="NAV_PITCH" value="0."/>
>>   <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
>> </section>
>> 
>> <section name="AGGRESSIVE" prefix="AGR_">
>>   <define name="BLEND_START" value="50"/><!-- Altitude Error to
>> Initiate Aggressive Climb CANNOT BE ZERO!!-->
>>   <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
>> Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
>>   <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive
>> Climb -->
>>   <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive
>> Climb -->
>>   <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
>> Decent -->
>>   <define name="DESCENT_PITCH" value="-0.35"/><!-- 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>
>> 
>> <section name="FAILSAFE" prefix="FAILSAFE_">
>>   <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
>>   <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
>>   <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
>>   <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
>>   <define name="HOME_RADIUS" value="100" unit="m"/>
>> </section>
>> 
>> </airframe>
>> 
>> I'm using the settings file: conf/settings/tuning_ins.xml
>> I'm using the radio file: conf/radios/T7cap.xml
>> 
>> I'm not sure if I forgot anything but the radio is the same as used with
>> a TWOG and Booz without issue. The biggest problem is an inability to
>> get the mode switched using the transmitter.
>> 
>> Regards,
>> David Conger
>> 
>> On Nov 8, 2010, at 4:54 PM, David Conger wrote:
>> 
>>> Hello,
>>> 
>>> I have a very strange issue. With a TWOG and my T7CAP everything was
>> just fine. The 3-pos switch worked well. With Booz it works well. Flying
>> is just fine.
>>> 
>>> The problem is the same everything (Berg4L receiver, same config) but
>> with a Tiny13 it doesn't work. By "doesn't work" I mean the 3-pos switch
>> has no effect. Also the autopilot acts strangely.  I powered it on
>> without the T7CAP on and the autpilot acted as if it was in AUTO2 as
>> expected. What doesn't work is powering on the T7CAP I expect full
>> MANUAL mode. That didn't happen. On powering up the T7CAP some of the
>> controls (i.e. right aileron) was no responding to the Tx. The 3-pos
>> switch had no effect. Very odd.
>>> 
>>> I read about ppm being modified. Could this be related?
>>> 
>>> -David Conger
>>> 
>>> On Oct 19, 2010, at 9:25 AM, Gautier Httenberger wrote:
>>> 
>>>> Hi all,
>>>> 
>>>> I have made some changes in the RC mechanism. It is now using
>> something really close to what exist on rotorcraft for fixed wing. The
>> idea is to merge the two in a near future.
>>>> 
>>>> What is available on FW are:
>>>> <subsystem name="radio_control" type="ppm"/>  (regular ppm decoding,
>> working with tiny/twog, need to be tested on lisa)
>>>> <subsystem name="radio_control" type="datalink"/>  (rc is coming from
>> the datalink, the ground part need a bit more work to be user
>> friendly...)
>>>> 
>>>> The old files for decoding ppm frames will be deleted soon.
>>>> 
>>>> Please report any troubles with this need radio control system.
>>>> 
>>>> Gautier
>>>> 
>>>> _______________________________________________
>>>> Paparazzi-devel mailing list
>>>> address@hidden
>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>> 
>>> 
>>> _______________________________________________
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>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> 
>> 
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