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[Paparazzi-devel] Airspeed sensor on Lisa/L

From: Jochen Rieger
Subject: [Paparazzi-devel] Airspeed sensor on Lisa/L
Date: Thu, 15 Dec 2011 16:19:38 +0100

Hello, I am try to measure the airspeed sensor + use for airspeed control loop. During reading the wiki, the forum and the paparazzi code.
There are some different modules and defines.

I have a Lisa/L with the onboard baros, MPXV5004DP and MPXH6115A.

I tested this (from wiki):

<load name="airspeed_ets.xml">
     <define name="AIRSPEED_ETS_SCALE"   value="1.8"/>
     <define name="AIRSPEED_ETS_OFFSET"  value="0"/>
     <define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>

<firmware name="fixedwing">

    <target name="ap" board="lisa_l_1.1">
      <define name="STRONG_WIND"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>
      <define name="USE_I2C2"/>
      <define name="USE_AIRSPEED"/>
      <define name="SENSOR_SYNC_SEND"/>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
                                  <!-- ***Airspeed*** -->
   <define name="AUTO_AIRSPEED_SETPOINT" value="13.0" unit="m/s"/>
   <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
   <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
   <define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
   <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
   <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

   <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
   <define name="AUTO_PITCH_IGAIN" value="0.025"/>
   <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
   <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>


After compiling and flashing, the massage in the gcs will be shown. But It seems that the values are incorrect.

From up to down :     12.   13.    13.    7.

And they dont change after blowing at the baros.

Are they so insensitive that they nothing change or is there a mistake in the airframe file?
Which values should be ca. e.g. are shown?

Best regards.

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