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

[Michal Podhradsky]

Hi everybody,

just a little update - we switched to OrangeRx R100 Satellite Receivers (http://www.hobbyking.com/hobbyking/store/__13418__OrangeRx_R100_Satellite_Receiver.html) instead of Spektrum ones, and we are getting much better radio signal with them.

More specifically, in comparison with Spektrum these Orange Satellites provide higher frame rate at the same distance/aircraft orientation.

And they are also cheaper:-)
Michal

On Wed, Nov 14, 2012 at 1:14 PM, Michal Podhradsky <address@hidden> wrote:

Thanks a lot guys! I must have missed it in the wiki.
Cheers
M

On Wed, Nov 14, 2012 at 12:29 PM, Felix Ruess <address@hidden> wrote:

See also http://paparazzi.enac.fr/wiki/Subsystem/radio_control#Spektrum

If that is unclear/insufficient, feel free to improve it :-)

On Wed, Nov 14, 2012 at 8:28 PM, Felix Ruess <address@hidden> wrote:

Hi Michal,

the radio xml file is only used for PPM based systems.

The spektrum models have fixed names for the channels/functions: https://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h

If you want to make an "alias" for one of the names, e.g. use aux2 as kill switch, define it as you already said.

  <define name="RADIO_MODE" value="RADIO_AUX1"/>

  <define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>

If you want to reverse a channel:

  <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="{1,-1,-1,-1,1,-1,1,1,1,1,1,1}"/>

and change the sign of the channel you want to reverse.

Cheers, Felix

On Wed, Nov 14, 2012 at 7:54 PM, Michal Podhradsky <address@hidden> wrote:

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"/>
</radio>

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 http://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h/#L62 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 http://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/subsystems/radio_control/spektrum_dx7se.h 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
Michal

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