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[Paparazzi-devel] GCS blank screen

From: Matheus Siqueira Barros
Subject: [Paparazzi-devel] GCS blank screen
Date: Wed, 10 Aug 2011 18:28:40 -0300

Hi there,
We keep getting blank screens on our GCS, it seems to be a common problem so we have seen some suggestions, most of them from Felix,

Here they are:
- Udev Rules Copied (Checked)
- Cables (Checked via Range test on X-CTU witch is working proprerly with the same cables and almost the same settings - the only difference is that we have to set our ATCI in 12 for test purpose)
- Settings (Pan ID are the same and everything else seems to be correct and were double checked already)
- Baundrates (the same for both 57600.)

So the 2 things that are not 100% checked cause we don´t know excty how to check are:
Airframe File (I will send it with this email in case anyone want to take a look)
Ground Modem Recognition by our PC (I don´t know how to perform this test - it mighty be a good advice already if anyone explain how can I do it)

Our System:
2x - XBee Pro S2, xbp24
1x - PPZUAV FTDI Board
1x - Lisa/L 1.1
1x - IMU Aspirin
Ubuntu 10.10
Fixed-wing Airplane

Paparazzi Center Configuration:
Airframe File attached
Flight Plan -> flight_plan/basic.xml (no modifications)
Settings -> settings/lisa.xml (no modifications)
                 settings/tuning_basic_ins.xml (no modifications)
Radio -> radios/cockpitSX.xml (no modifications)
Telemetry -> telemetry/default_fixedwing_imu.xml (no modifications)

Sorry about the big detailed message, Thanks vm.


<!DOCTYPE airframe SYSTEM "airframe.dtd">

    Lisa_l, IMU Aspirin, GPS ublox_5H e XBee

<airframe name="VANT_MG">

    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON_LEFT" no="2" min="1000" neutral="1500" max="2000"/>
    <servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
    <servo name="ELEVATOR" no="5" min="2000" neutral="1500" max="1000"/>
    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>

    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="BRAKE" failsafe_value="0"/>    <!-- both elerons up as butterfly brake ? -->

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

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

  <!-- Local magnetic field -->
  <section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="0.51562740288882" />
    <define name="H_Y" value="-0.05707735220832" />
    <define name="H_Z" value="0.85490967783446" />

  <section name="IMU" prefix="IMU_">
    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>

    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
    <define name="GYRO_R_SENS" value="4.947" integer="16"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0"/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>

    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="1"/>
    <define name="GYRO_R_SIGN" value="1"/>

    <define name="ACCEL_X_NEUTRAL" value="-14"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>

    <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
    <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="1"/>
    <define name="ACCEL_Z_SIGN" value="1"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <define name="MAG_X_SENS" value="1" integer="16"/>
    <define name="MAG_Y_SENS" value="1" integer="16"/>
    <define name="MAG_Z_SENS" value="1" integer="16"/>

    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.7"/>
    <define name="MAX_PITCH" value="0.7"/>

  <section name="BAT">
    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>

    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="GLIDE_AIRSPEED" value="10"/>
    <define name="GLIDE_VSPEED" value="3."/>
    <define name="GLIDE_PITCH" value="45" unit="deg"/>

  <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="-0.03"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <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"/>

    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-1.20000004768"/>
    <define name="COURSE_DGAIN" value="0.3"/>
    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>

    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

    <define name="PITCH_PGAIN" value="-12000."/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1000."/>

    <define name="ROLL_SLEW" value="1."/>

    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
    <define name="ROLL_RATE_GAIN" value="0."/>

  <section name="AGGRESSIVE" prefix="AGR_">
    <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_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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 name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>

    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>

  <section name="DIGITAL_CAMERA" prefix="DC_">
    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>

      <!-- DATALINK (ADD BY Luiz)
   <section name="DATALINK" prefix="DATALINK_">
      <define name="DEVICE_TYPE" value="PPRZ"/>
      <define name="DEVICE_ADDRESS" value="...."/>

    <load name="light.xml">
      <define name="LIGHT_LED_STROBE" value="3"/>
      <define name="LIGHT_LED_NAV" value="2"/>
      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
    <!--    <load name="digital_cam_i2c.xml"/>  -->

 <!--    <load name="ins_ppzuavimu.xml" /> -->

    <load name="digital_cam.xml" >
      <define name="DC_SHUTTER_LED" value="3"/>

  <firmware name="fixedwing">

    <target name="ap" board="lisa_l_1.1"> <!-- board="tiny_2.11"> -->
      <define name="STRONG_WIND"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>

      <configure name="PERIODIC_FREQUENCY" value="120"/>
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />

      <configure name="AHRS_ALIGNER_LED" value="3"/>
      <configure name="CPU_LED" value="3"/>
    <target name="sim" board="pc"/>

    <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="ALT_KALMAN"/>

    <!-- Sensors -->
    <subsystem name="ahrs" type="ic">
    <subsystem name="imu" type="aspirin_i2c"/>
    <subsystem name="imu" type="aspirin"/>
    <subsystem name="ahrs" type="dcm">
<!--      <define name="USE_MAGNETOMETER" /> -->

    <subsystem name="radio_control" type="ppm"/>

    <!-- Communication -->
    <subsystem name="telemetry" type="transparent">
      <configure name="MODEM_PORT" value="UART2"/>
      <configure name="MODEM_BAUD" value="B57600"/>

    <!-- Actuators -->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="navigation"/>
    <subsystem name="gps" type="ublox_utm"/>

    <subsystem name="i2c"/>


<firmware name="lisa_l_test_progs">
    <target name="test_led"   board="lisa_l_1.1"/>
    <target name="test_uart"   board="lisa_l_1.1"/>
    <target name="test_servos"   board="lisa_l_1.1"/>
    <target name="test_telemetry"   board="lisa_l_1.1"/>
    <target name="test_baro"        board="lisa_l_1.1"/>
    <target name="test_imu_aspirin" board="lisa_l_1.1"/>

Best Regards
               Matheus Siqueira Barros
               Federal University of Itajubá (UNIFEI)
                    Mobile: +55 (35) 9828-0650

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