Re: [Paparazzi-devel] Not able to send signal to the airplane.

[Árni Þorvaldsson]

It´s most likely problem with the LPC since I can trace the signal to it but I 
think I don´t have the skills or tools to replace the LPC. I have another Tiny 
which I got borrowed and that one is working fine.

regards Arni.
________________________________
Frá: address@hidden address@hidden fyrir hönd Christoph Niemann address@hidden
Sent: 26. júlí 2012 13:23
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

That doesn't sound so good. Perhaps the Rx-Pin of your Tiny is broken, due to 
some ESD-problem. in this case a complete new Tiny wouldn't be required. You 
just have to replace the LPC. Still plenty of work. Perhaps somebody else has 
another idea, but this should work and in case you can trace the signal to the 
pin of the LPC, the LPC must be broken, since the Software for the LPC is 
working everywhere else. Do you have another Tiny or TWOG?

Cheers

Christoph

2012/7/26 Árni Þorvaldsson <address@hidden<mailto:address@hidden>>
I am getting the signal all the way to chip on the backside of tiny, so the 
problem is not with the connectors. Now I don´t know what I can do. Maybe get a 
new Tiny?

regards Arni
________________________________________
Frá: address@hidden<mailto:address@hidden> 
address@hidden<mailto:address@hidden>] fyrir h&#246;nd Árni Þorvaldsson 
address@hidden<mailto:address@hidden>]
Sent: 26. júlí 2012 11:49
To: address@hidden<mailto:address@hidden>
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

I just checked the signal and and I get a boxsignal everytime i try to send 
message from GCS to the autopilot and it goes all the way to the rx pin.
________________________________________
Frá: address@hidden<mailto:address@hidden> 
address@hidden<mailto:address@hidden>] fyrir h&#246;nd Martin Mueller 
address@hidden<mailto:address@hidden>]
Sent: 26. júlí 2012 11:45
To: address@hidden<mailto:address@hidden>
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

And the signal goes all the way to the RX pin?

To check permissions, can you try something like

echo "hello" > /dev/ttyUSB0

(or the /dev that the modem is connected to)

On 07/26/2012 01:25 PM, Árni Þorvaldsson wrote:
> I have the same groundstation modem and the same onboard as well.
> ________________________________________
> Frá: address@hidden<mailto:address@hidden> 
> address@hidden<mailto:address@hidden>] fyrir h&#246;nd Martin Mueller 
> address@hidden<mailto:address@hidden>]
> Sent: 26. júlí 2012 11:16
> To: address@hidden<mailto:address@hidden>
> Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.
>
> Same ground station modem? Maybe use an oscilloscope and follow the
> serial signal in the the aircraft from the DOUT of the modem to the RX
> of the autopilot while continuously transmitting data from the ground.
>
> On 07/26/2012 01:10 PM, Árni Þorvaldsson wrote:
>> Hi and thanks for your help.
>> that´s right, I am able to see messages from AP but cannot send any messages 
>> to the AP.
>> I have never been able to send messages to the this AP.
>> But I have another plane here with another AP(but same brand) and that one 
>> works good (with the same computer and same setup).
>> so that is why I was wondering if it is hardware problem.
>>
>> regards Arni
>> ________________________________
>> Frá: address@hidden<mailto:address@hidden> 
>> address@hidden<mailto:address@hidden>] fyrir hönd Christoph Niemann 
>> address@hidden<mailto:address@hidden>]
>> Sent: 26. júlí 2012 10:50
>> To: address@hidden<mailto:address@hidden>
>> Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.
>>
>> Hi Arni,
>>
>> what understoud was, you were able to see messages coming from the AP, but 
>> not from you computer, right?
>> Have you been able to see the messages from your computer to the ap with 
>> your other setup?
>> If so, how should there be no messages with a malconfigured or broken AP? 
>> The only possibility would be, there is something wrong with the config on 
>> your computer for the ground modem (or its USB to UART chip) or the AP is 
>> pulling his RX line to low.
>>
>> Cheers
>>
>> Christoph
>>
>> 2012/7/26 Árni Þorvaldsson 
>> <address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>
>> Hi , I have another plane and computer (with paparazzi installed) here that 
>> works perfectly. I have tried to use the same settup for my plane but it´s 
>> still the same problem. So it´s probably something with the board since I am 
>> using the same configuration and same xbees.
>>
>> maybe I am missing something. I don know if it is hardware problem or 
>> something I have to flash the board with to be able to get the uplink 
>> possible.
>> If someone has experienced this before please help.
>>
>> regards Arni.
>> ________________________________
>> Frá: 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>
>>  
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>]
>>  fyrir hönd Christoph Niemann 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>]
>> Sent: 25. júlí 2012 16:20
>> To: 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>
>> Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.
>>
>> Weird.
>>
>> Never had that before. What happens, if the permissions for the Modem-Device 
>> (e.g. /dev/ttyUSB0) are read-only? Perhaps in this case, there won't be an 
>> error Message, but just no data going through the line.  The datalink is, as 
>> far as i know, only configured by the parameters given to the link-program 
>> (e.g. sw/ground_segment/tmtc/link  -d /dev/ttyUSB0 -s 57600) on the 
>> ground-side and the telemtry-defines in the Airframe-File. But both seem ok, 
>> since its working for the downlink...
>> Perhaps check the permissions for the Modem.
>>
>> Good Luck
>>
>> Christoph
>>
>> 2012/7/25 Árni Þorvaldsson 
>> <address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>><mailto:address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>>
>> a little update on my problem, I just put an oscilloscope on tx and rx ports 
>> of the serial on the tiny.  I can see data going through TX but nothing is 
>> happening on RX. That means that there are no data going to the Tiny so the 
>> problem lies in the paparazzi. I am not sure where I configure the datalink.
>>
>> If someone can help me it is highly preciated.
>>
>> Arni
>> ________________________________________
>> Frá: 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>><mailto:address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>
>>  
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>><mailto:address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>]
>>  fyrir h&#246;nd Árni Þorvaldsson 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>><mailto:address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>]
>> Sent: 25. júlí 2012 14:15
>> To: 
>> address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>><mailto:address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>
>> Efni: [Paparazzi-devel] Not able to send signal to the airplane.
>>
>> Hi all
>> I was going to have my first first flight today but had some errors, manual 
>> mode is working fine and I am receiving the messages from the airplane and 
>> have already calibrated the IR sensors and servos.
>> My problem now seems to be that I am not able to send data to the autopilot 
>> through xbees ( xbee communication only work one way). I have tried to 
>> connect usb-serial cable instead of xbees and still the same problem so it´s 
>> not problem with the xbees.
>> Is there something I am missing?
>>
>> Here are my airframe and telemetry files. (is there something else I need to 
>> display)
>>
>> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>>
>> <!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
>>        Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
>>        PerkinElmer TPS334 IR Sensors
>>        Tilted infrared sensor 
>> (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
>>        XBee modem with AT firmware
>>        LEA 5H GPS
>> -->
>>
>> <airframe name="Funjet Tiny 2.11">
>>
>>     <firmware name="fixedwing">
>>       <target name="sim"             board="pc"/>
>>       <target name="ap"             board="tiny_2.11"/>
>>
>>       <define name="AGR_CLIMB"/>
>>       <define name="LOITER_TRIM"/>
>>       <define name="ALT_KALMAN"/>
>>
>>       <subsystem name="radio_control" type="ppm"/>
>>       <subsystem name="joystick"/>
>>
>>       <!-- Communication -->
>>       <subsystem name="telemetry" type="transparent"/>
>>
>>
>>
>>       <!-- Actuators are automatically chosen according to board-->
>>       <subsystem name="control"/>
>>       <!-- Sensors -->
>>       <subsystem name="ahrs"         type="infrared"/>
>>       <subsystem name="gps"             type="ublox"/>
>>
>>       <subsystem name="navigation"/>
>>     </firmware>
>>
>>     <modules>
>>       <load name="infrared_adc.xml"/>
>>     </modules>
>>
>>     <firmware name="setup">
>>       <target name="tunnel"             board="tiny_2.11"/>
>>       <target name="setup_actuators"     board="tiny_2.11"/>
>>     </firmware>
>>
>> <!-- commands section -->
>>     <servos>
>>       <servo name="MOTOR"         no="7" min="1000" neutral="1000" 
>> max="2000"/>
>>       <servo name="AILEVON_LEFT"  no="4" min="1900" neutral="1500" 
>> max="1100"/>
>>       <servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1500" 
>> max="1900"/>
>>     </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="AILEVON_AILERON_RATE" value="0.45"/>
>>       <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
>>     </section>
>>
>>     <command_laws>
>>       <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
>>       <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
>>       <set servo="MOTOR"           value="@THROTTLE"/>
>>       <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
>>       <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
>>     </command_laws>
>>
>>     <section name="AUTO1" prefix="AUTO1_">
>>       <define name="MAX_ROLL" value="0.85"/>
>>       <define name="MAX_PITCH" value="0.6"/>
>>     </section>
>>     <!--section name="MISC">
>>       <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
>>       <define name="NO_XBEE_API_INIT" value="FALSE"/>
>>     </section-->
>>     <section name="INFRARED" prefix="IR_">
>>       <define name="ADC_IR1_NEUTRAL" value="514"/>
>>       <define name="ADC_IR2_NEUTRAL" value="511"/>
>>       <define name="ADC_TOP_NEUTRAL" value="512"/>
>>
>>       <define name="CORRECTION_UP" value="1."/>
>>       <define name="CORRECTION_DOWN" value="1."/>
>>       <define name="CORRECTION_LEFT" value="1."/>
>>       <define name="CORRECTION_RIGHT" value="1."/>
>>
>>       <define name="LATERAL_CORRECTION" value="-1"/>
>>       <define name="LONGITUDINAL_CORRECTION" value="1"/>
>>       <define name="VERTICAL_CORRECTION" value="1.5"/>
>>
>>       <define name="IR1_SIGN" value="1"/>
>>       <define name="IR2_SIGN" value="-1"/>
>>       <define name="TOP_SIGN" value="1"/>
>>       <define name="HORIZ_SENSOR_TILTED" value="1"/>
>>
>>       <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="10000."/>
>>       <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
>>     </section>
>>
>>     <section name="MISC">
>>       <define name="NOMINAL_AIRSPEED" value="15." 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="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"/> <!-- -0.024 -->
>>       <!-- 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"/> <!-- -0.012 -->
>>       <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
>>       <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
>>
>>       <!-- auto pitch inner loop -->
>>       <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
>>       <define name="AUTO_PITCH_IGAIN" value="0.0"/>
>>       <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="-0.9"/>
>>       <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 
>> 0.5 -->
>>       <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="6600."/>
>>       <define name="AILERON_OF_THROTTLE" value="0.0"/>
>>       <define name="PITCH_PGAIN" value="-5500."/>
>>       <define name="PITCH_DGAIN" value="0.4"/>
>>
>>       <define name="ELEVATOR_OF_ROLL" value="2400"/>
>>     </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="0.3" unit="rad"/>
>>           <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
>>       <define name="HOME_RADIUS" value="100" unit="m"/>
>>     </section>
>>
>>     <section name="SIMU">
>>       <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
>>     </section>
>>
>> </airframe>
>>
>>
>> <?xml version="1.0"?>
>> <!DOCTYPE telemetry SYSTEM "telemetry.dtd">
>> <telemetry>
>>     <process name="Ap">
>>       <mode name="default">
>>         <message name="AIRSPEED"                period="1"/>
>>         <message name="ALIVE"                        period="5"/>
>>         <message name="GPS"                            period="0.25"/>
>>         <message name="NAVIGATION"            period="1."/>
>>         <message name="ATTITUDE"                 period="0.5"/>
>>         <message name="ESTIMATOR"              period="0.5"/>
>>         <message name="ENERGY"                    period="2.5"/>
>>         <message name="WP_MOVED"              period="0.5"/>
>>         <message name="CIRCLE"                      period="1.05"/>
>>         <message name="DESIRED"                   period="1.05"/>
>>         <message name="BAT"                            period="1.1"/>
>>         <message name="BARO_MS5534A"       period="1.0"/>
>>         <message name="SCP_STATUS"          period="1.0"/>
>>         <message name="SEGMENT"             period="1.2"/>
>>         <message name="CALIBRATION"         period="2.1"/>
>>         <message name="NAVIGATION_REF"      period="9."/>
>>         <message name="PPRZ_MODE"           period="5."/>
>>         <message name="SETTINGS"            period="5."/>
>>         <message name="STATE_FILTER_STATUS" period="5."/>
>>         <message name="DOWNLINK"            period="5.1"/>
>>         <message name="DL_VALUE"            period="1.5"/>
>>         <message name="IR_SENSORS"          period="1.2"/>
>>         <message name="GYRO_RATES"          period="1.1"/>
>>         <message name="SURVEY"              period="2.1"/>
>>         <message name="GPS_SOL"             period="2.0"/>
>>       </mode>
>>       <mode name="minimal">
>>         <message name="ALIVE"               period="5"/>
>>         <message name="ATTITUDE"            period="4"/>
>>         <message name="GPS"                 period="1.05"/>
>>         <message name="ESTIMATOR"           period="1.3"/>
>>         <message name="WP_MOVED"            period="1.4"/>
>>         <message name="CIRCLE"              period="3.05"/>
>>         <message name="DESIRED"             period="4.05"/>
>>         <message name="BAT"                 period="1.1"/>
>>         <message name="SEGMENT"             period="3.2"/>
>>         <message name="CALIBRATION"         period="5.1"/>
>>         <message name="NAVIGATION_REF"      period="9."/>
>>         <message name="NAVIGATION"          period="3."/>
>>         <message name="PPRZ_MODE"           period="5."/>
>>         <message name="STATE_FILTER_STATUS" period="5."/>
>>         <message name="DOWNLINK"            period="5.1"/>
>>         <message name="DL_VALUE"            period="1.5"/>
>>         <message name="IR_SENSORS"          period="5.2"/>
>>         <message name="GYRO_RATES"          period="10.1"/>
>>         <message name="SURVEY"              period="2.1"/>
>>         <message name="GPS_SOL"             period="5.0"/>
>>       </mode>
>>       <mode name="extremal">
>>         <message name="ALIVE"               period="5"/>
>>         <message name="GPS"                 period="5.1"/>
>>         <message name="ESTIMATOR"           period="5.3"/>
>>         <message name="BAT"                 period="10.1"/>
>>         <message name="DESIRED"             period="10.2"/>
>>         <message name="NAVIGATION"          period="5.4"/>
>>         <message name="PPRZ_MODE"           period="5.5"/>
>>         <message name="STATE_FILTER_STATUS" period="7."/>
>>         <message name="DOWNLINK"            period="5.7"/>
>>       </mode>
>>     </process>
>>     <process name="Fbw">
>>       <mode name="default">
>>         <message name="COMMANDS"            period="5"/>
>>         <message name="FBW_STATUS"          period="2"/>
>>         <message name="ACTUATORS"           period="5"/> <!-- For trimming 
>> -->
>>       </mode>
>>       <mode name="debug">
>>         <message name="PPM"                 period="0.5"/>
>>         <message name="RC"                  period="0.5"/>
>>         <message name="COMMANDS"            period="0.5"/>
>>         <message name="FBW_STATUS"          period="1"/>
>>         <message name="ACTUATORS"           period="5"/> <!-- For trimming 
>> -->
>>       </mode>
>>     </process>
>> </telemetry>
>>
>> regards Arni
>>
>>
>> _______________________________________________
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