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[Paparazzi-devel] Paparazzi v.4.0 - Spektrum radio config issue

From: Michal Podhradsky
Subject: [Paparazzi-devel] Paparazzi v.4.0 - Spektrum radio config issue
Date: Wed, 14 Nov 2012 11:54:59 -0700

Hello guys,

I have a question about the radio config xml file (in /conf/radios).
We are using Spektrum DX7s as a transmitter and one Spektrum satellite receiver. And I had troubles assigning the channels to radio controls (MODE switch and KILL switch).

Our configuration is following:

In the airframe config:

  <firmware name="rotorcraft">
    <target name="ap" board="lia_1.1">
      <subsystem name="radio_control" type="spektrum"/>

And the Spektrum radio config file (spektrum is:
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Spektrum" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="NEGATIVE">
 <channel ctl="left_stick_vert" function="THROTTLE"     max="2050" neutral="950" min="950" average="0"/>
 <channel ctl="right_stick_horiz" function="ROLL"    min="950" neutral="1500" max="2050" average="0"/>
 <channel ctl="right_stick_vert" function="PITCH"      min="2050" neutral="1500" max="950" average="0"/>
 <channel ctl="left_stick_horiz" function="YAW" min="950" neutral="1500" max="2050" average="0"/>
 <channel ctl="switch_c" function="UNUSED"    min="2050" neutral="1500" max="948" average="1"/>
 <channel ctl="switch_g" function="MODE"    min="2050" neutral="1500" max="950" average="1"/>
 <channel ctl="aux2" function="KILL_SWITCH"     min="2050" neutral="1496" max="948" average="1"/>

So MODE should be channel 5 and KILL_SWITCH channel 6.

However, neither RADIO_KILL_SWITCH nor RADIO_MODE is defined. The RADIO_MODE is later defined in but the KILL_SWITCH remains undefined.

A workaround is to define both switched in the airframe config file, for example:
    <!--define name="RADIO_MODE" value="RADIO_GEAR"/-->
    <!--define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/-->
but it does not seem to be the best option.

There is a spectrum header file but it is not included in compilation.

Also, changing settings in the Spectrum config xml file does not make any difference in radio behavior (e.g. the channels and min/max values stays the same regardless of the config file).

Is this a desired behavior (i.e. moving away from the radio config and define everything in the airframe config or within the code) or is it a problem with compilation settings? How would I assign radio channels to switches in the radio config?

Thanks a lot

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