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Re: [Paparazzi-devel] What setting I should to use?

From: Pedro Andrade
Subject: Re: [Paparazzi-devel] What setting I should to use?
Date: Thu, 11 Aug 2011 19:34:05 +0000

Hi Cristopher,

I'm not sure if u saw our e-mail on the list but I'm having this annoying trouble and I was wondering if u could help me, so I will foward the "list e-mail" directly to u in hope of any suggestions...

Before I say good bye I just want to add that everything we tested make us believe that the problem may lie on the communication between the Paparazzi Software and the Xbee Grounding Modem. (looks like there is no problem with the FTDI board though)

Thanks once again. See yah!

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"/>


Date: Tue, 9 Aug 2011 21:57:24 +0200
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] What setting I should to use?

Oh, I should have mentioned that:

telemetry: default_fixedwing_imu.xml
settings: tuning_basic_imu.xml 

(disclaimer: if names have not changed)



On Tue, Aug 9, 2011 at 8:06 PM, Pedro Andrade <address@hidden> wrote:
Hi Christophe,

can you tell me, what is the telemetry configuration file do you use? (i.e. default, xbee868)

Date: Tue, 12 Jul 2011 12:41:20 +0200

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] What setting I should to use?

make a copy of ./conf/airframes/ppzuav/fixedwing/tiny_ppzuav.xml

change to board="lisa_l_1.1"
change telemetry to type="xbee_api" and set your baudrate
change imu to type="aspirin"


On Tue, Jul 12, 2011 at 3:26 AM, Pedro Andrade <address@hidden> wrote:

I'm making a fixedwing.

Date: Wed, 6 Jul 2011 23:12:33 +0200
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] What setting I should to use?

Are you making a rotorcraft or a fixedwing?
On Jul 6, 2011 1:28 AM, "Pedro Andrade" <address@hidden> wrote:
> Hi all,
> What setting I should to use for the Lisa/L, Aspirin and XBee modem.Cheers

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