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[Paparazzi-devel] Quesion about PPM signal testing


From: David Conger
Subject: [Paparazzi-devel] Quesion about PPM signal testing
Date: Tue, 08 Jan 2013 17:46:19 -0800

Hello,

I am having difficulty around the RC setup. I am not able to control the servos or mode. 

My airframe file is the default umarim_lite_v2.xml 

Here's the top section around the RC and config:
<airframe name="RadJet420">

  <firmware name="fixedwing">
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <define name="AGR_CLIMB" />
    <define name="ALT_KALMAN"/>

    <target name="sim" board="pc"/>
    <target name="ap" board="umarim_lite_2.0"/>

    

    <subsystem name="radio_control" type="ppm"/>

    <!-- Communication -->
    <subsystem name="telemetry" type="transparent"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="imu"     type="umarim"/>
    <subsystem name="ahrs"    type="float_dcm"/>
    <subsystem name="control"/>
    <subsystem name="navigation"/>
    <!-- Sensors -->
    <subsystem name="gps" type="ublox"/>
  </firmware>

  

  <firmware name="setup">
      <target name="setup_actuators" board="umarim_1.0"/>
      <target name="tunnel" board="umarim_1.0"/>
  </firmware>

<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>
    <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1543" max="1100"/>
    <servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1561" 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="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </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>


My radio is a JR9303 with FM Sythn 72mHz module. My Rx is a Berg4L modified per the Wiki for PPM output. I wired the Rx to the autopilot per the Wiki under UmarimLiteV2 small aircraft wiring diagram (latest diagram). 

Here's my radio.xml file:
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000" sync_max="15000" pulse_type="POSITIVE">
  <channel ctl="right_stick_horiz" function="ROLL" min="1939" neutral="1525" max="1114" average="0"/>
  <channel ctl="right_stick_vert" function="PITCH" min="1112" neutral="1518" max="1937" average="0"/>
  <channel ctl="left_stick_vert" function="THROTTLE" min="1940" neutral="1940" max="1115" average="0"/>
  <channel ctl="left_stick_horiz" function="YAW" min="1940" neutral="1498" max="1115" average="0"/>
  <channel ctl="switch_G" function="CALIB" min="2080" neutral="1525" max="969" average="10"/>
  <channel ctl="switch_C" function="MODE" min="2079" neutral="1526" max="966" average="10"/>
  <channel ctl="VRA" function="GAIN1" min="970" neutral="1520" max="2078" average="10"/>
  <channel ctl="VRC" function="GAIN2" min="970" neutral="1518" max="2077" average="10"/>
</radio>

I want the left flap switch (3-pos; ch6) to be mode. 

I connected an SAE logic analyzer to the PPM pin on the connector for RC with everything powered up and think I see a PPM signal. Maybe someone can help and review this image. 

I am unsure how to see the PPM input values in the "messages" utility in Paparazzi Center. Is there a way? I'm at a loss to identify is autopilot receiving the PPM signal and simply unable to parse it? Or is there something else wrong not related to Paparazzi. 

Thank you for your help. I hope I wrote this in a way that others may be helped by the answer. 

-David Conger

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