Re: [Paparazzi-devel] Time to fine tune...

[Gareth Roberts]

Hi Lorenz,

> Seems like I found the hornets nest, judging from the number and
> timing of responses ;-)

Try asking the Mikrokopter guys...

In implementation terms, the HappyKillmore GCS implements the paparazzi
protocol.  It's also an awesome piece of work for one guy; especially
given it's written in Visual Basic!

http://code.google.com/p/happykillmore-gcs

Paparazzi isn't on the supported list but grep through the source, or
have a look at:
http://code.google.com/p/happykillmore-gcs/source/browse/trunk/frmMain.vb#2877

Trying to decipher the source code is not easy though...

Cheers,
--G
Hornet #1 :)

On Wed, 2011-10-05 at 06:32 +0000, Meier Lorenz wrote:
> Seems like I found the hornets nest, judging from the number and timing of 
> responses ;-). Good to have all your attentention.
> 
> Yes, I will dig into the simulation to make sure to not propose again a 
> redundant feature as first implementation step.
> 
> -L
> 
> 
> On Oct 4, 2011, at 11:26 PM, Felix Ruess wrote:
> 
> Just a quick note regarding the settings: in Paparazzi you can also just edit 
> any variables by defining a settings xml file for them and you will 
> automatically get sliders to change this during flight.
> So although I haven't used QGroundControl (and the parameters widget) it 
> sounds like basically exactly the same thing...
> 
> On Tue, Oct 4, 2011 at 11:09 PM, Gareth Roberts 
> <address@hidden<mailto:address@hidden>> wrote:
> Hi Lorzenz,
> 
> [Sorry Volodymyr, I usually leave them alone: 
> http://paparazzi.enac.fr/wiki/Fixedwing_Configuration#Vertical_Control has a 
> reference for the code which actually uses them though, so you can see the 
> control laws where they are implemented]
> 
> Like http://paparazzi.enac.fr/wiki/GCS#Settings and 
> http://paparazzi.enac.fr/wiki/GCS#Papgets ?
> 
> QGroundControl is a great piece of work and working together to draw together 
> the open source UAV community is definitely a good idea, but many of features 
> have been implemented by paparazzi a long time ago (although not necessarily 
> very discoverable :)).
> It might be worth doing a few simulated flights via paparazzi just to 
> familiarize yourself more with how the complete system works; the loose 
> coupling between all the components via the ivy bus does take some getting 
> used to.  The Messages tool and the ivy command line utility are both 
> invaluable for understanding the message passing system of paparazzi.
> 
> Again, thanks for your work: it would be great to have a 
> FreeDesktop(FreeUAV?) type organization to promote interoperability, 
> especially given the increasing interest in the area.
> 
> Cheers!
> Gareth
> 
> 
> 
> 
> On Tue, 04 Oct 2011 20:32:08 +0100, Meier  Lorenz 
> <address@hidden<mailto:address@hidden>> wrote:
> 
> This is officially no attempt to hijack this thread, I just thing it 
> perfectly fits:
> 
> This is a good example where QGroundControl could be beneficial: Without the 
> need to change QGC, every user can have his custom widgets for parameters. 
> They can be tuned with sliders and are read-in on application startup.
> 
> The parameter interface allows to change parameters in-flight, they could 
> also be saved to EEPROM (Lisa has one, right?)
> 
> The attached image translates to this exported widget configuration (which 
> doesn't need to be edited manually, it can be graphically configured). The 
> min/max values are auto-imported if QGC is provided with a CSV or Wiki-syntax 
> file with parameter information (also shown as tooltip in the parameter 
> widget).
> 
> 
> [cid:3daf12cf-c89d-4eed-ba80-1475d6cd60fc@intern.ethz.ch<mailto:address@hidden>]
> 
> 
> 
> [Heading%20PID%20Tuning]
> QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
> QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
> QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
> QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
> QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
> QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
> QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
> QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
> QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
> QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
> QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
> QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
> QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
> QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
> QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
> QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
> QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
> QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
> QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
> QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
> QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
> QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
> QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
> QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
> QGC_TOOL_WIDGET_ITEMS\size=4
> 
> 
> Am 04.10.2011 um 20:35 schrieb Volodymyr Khudyakov:
> 
> Hi gang
> Please, help me to understand, how it work? Who explain me in simple terms?
> What exactly is: DASH_TRIM, LOITER_TRIM, PITCH_OF_VZ_PGAIN...
> 
> ...
> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
> ...
> <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
> ...
> 
> 
> 
> Sincerely
> Vladimir
> 
> 
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden<mailto:address@hidden>
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> 
> Lorenz Meier
> PhD Candidate
> Computer Vision and Geometry Lab
> ETH Zurich
> Swiss Federal Institute of Technology
> http://www.inf.ethz.ch/personal/lomeier/
> 
> 
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> 
> 
> ------------------------------------------------------
> Lorenz Meier
> PhD Student
> Computer Vision and Geometry Lab
> ETH Zurich /
> Swiss Federal Institute of Technology
> http://www.inf.ethz.ch/personal/lomeier/
> 
> 
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