Re: [Paparazzi-devel] paparazzi software debug

[refik]

Hi Heinrich,

Thank you very much for your reply. The document about running the tool
chain will be very useful.

Cheers, Refik

Date: Mon, 11 Feb 2013 19:02:09 +0100
From: "Prof. Dr.-Ing. Heinrich Warmers" <address@hidden>
To: address@hidden
Subject: Re: [Paparazzi-devel] paparazzi software debug
Message-ID: <address@hidden>
Content-Type: text/plain; charset="utf-8"; Format="flowed"

Hi Refik,

The HB autopilots have for the LPC2148  JTAG connections.
Currently we make the tests  with  paparazzi, eclipse and  oocd  debugging.
It is a hard way to get tool chain running.
We will document it wiki in the next weeks.
The Ollimex  pcbs have also the JTAG connector but  not the sensors.

Also a logic sniffer (about 45 Euros 
http://www.watterott.com/en/Open-Logic-Sniffer) makes a good job for 
testing   UART, SPI , and  I2C interfaces

Cheers, Heinrich

Felix Ruess schrieb:

> Hi Refik,
>
> first a request: if you have general questions like this, please post 
> to the mailing list instead of directly writing to me.
> See http://paparazzi.enac.fr/wiki/Contact#Mailing_List
> There are a lot more people who might be able to help you and others 
> can benefit from the answers as well :-)
>
> It depends what part of the software you want to debug:
> - if it's higher level code like flight plans, navigation, etc. (which 
> is hardware independent) you can do that in one of the simulators 
> <http://paparazzi.enac.fr/wiki/Simulation>.
> - debugging hardware drivers is hard, you need to do that on the board 
> via JTAG <http://paparazzi.enac.fr/wiki/DevGuide/JTAG-Debug> (and keep 
> in mind that you seriously change timing, etc. while debugging)
>   unfortunately the umarim does not have a JTAG connector
>
>
> Cheers, Felix
>
>
> On Fri, Feb 8, 2013 at 4:44 PM, refik <address@hidden 
> <mailto:address@hidden>> wrote:
>
>     Dear Felix,
>
>      
>
>     I am a lecturer in Electronics Engineering Department of Akdeniz
>     University in Turkey. We are trying to build an UAV in our
>     university.
>
>      
>
>     I am a beginner of paparazzi. I bought umarim_lite_v2,
>     FTDI_utility board, and XBee Modem from PPZUAV. I installed
>     paparazzi on Linux, and it works fine.
>
>      
>
>     Now I am trying to debug software and understand paparazzi in
>     detail.  I am also beginner in C-programming. Therefore, I do not
>     exactly know how I can run  and debug paparazzi codes.
>
>      
>
>     I want to debug airborne software in computer first. Then I want
>     to debug it on umar?m board.
>
>      
>
>     How can I run and debug the airborne software? Could you please
>     tell me the basic steps. I installed eclipse on Linux. Do you
>     recommend some other tools?
>
>      
>
>     When debugging the codes on computer, there will be no peripheral
>     devices. How can I debug without these peripherals? Do you
>     recommend skip this step and directly debug software on Umar?m
>     board with all the sensors?
>
>      
>
>     I want to develop my own codes ( integrate new sensor boards and
>     develop flight algorithms etc.) later. But before, I need to learn
>     how to run and debug the software.
>
>      
>
>     Thank you very much and best regards,
>
>     Refik
>
>      
>
>     Dr. Refik Sever
>
>     Electrical and Electronics Engineering Dept.
>
>     Akdeniz University, Antalya, TURKEY
>
>     Phone: +905066128479 <tel:%2B905066128479>
>
>
>------------------------------------------------------------------------
>
>_______________________________________________
>Paparazzi-devel mailing list
>address@hidden
>https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>  
>
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Message: 2
Date: Mon, 11 Feb 2013 14:08:29 -0500
From: Joseph Muhlhausen <address@hidden>
To: address@hidden
Subject: [Paparazzi-devel] Interference in flight Umarim lite 2.0
Message-ID:
        <address@hidden>
Content-Type: text/plain; charset="iso-8859-1"

Hi All,

My plane flies great and is properly set up for AUTO1. However, during the
last two flights I could only control the plane intermittently.  As soon as
I would start throttle again I would lose control of the plane.

On the ground everything works fine including range test.

All wires are twisted but none are shielded.

Grounding:
-ESC and Umarim share the same ground from the battery supply
-ESC's BEC seem to have common ground (measures 0 V between Umarim ground
and BEC ground)
-RX and Xbee get the ground from Umarim
-Servos get +5V and ground from ESC's BEC
-No ground on motor or motor plate

I am not sure where to start, if anyone has had a similar issue and found a
fix that would help me a lot.

Thanks,
Joseph
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Message: 3
Date: Mon, 11 Feb 2013 20:21:37 +0100
From: Martin Mueller <address@hidden>
To: address@hidden
Subject: Re: [Paparazzi-devel] Interference in flight Umarim lite 2.0
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed

Hi Joseph,

> My plane flies great and is properly set up for AUTO1. However, during
> the last two flights I could only control the plane intermittently.  As
> soon as I would start throttle again I would lose control of the plane.
>
> On the ground everything works fine including range test.
>
> All wires are twisted but none are shielded.
>
> Grounding:
> -ESC and Umarim share the same ground from the battery supply
> -ESC's BEC seem to have common ground (measures 0 V between Umarim
> ground and BEC ground)
> -RX and Xbee get the ground from Umarim
> -Servos get +5V and ground from ESC's BEC
> -No ground on motor or motor plate
>
> I am not sure where to start, if anyone has had a similar issue and
> found a fix that would help me a lot.

sounds like a ground issue. Between the Umarim and the servos ground 
line is the battery -> ESC path. If you run the engine you will have a 
current in that path that creates a voltage that disturbs the servo 
signals. Try connecting the servos ground directly to the Umarim.

If that helps maybe the "Large Aircraft Connection Diagram" picture in 
the Wiki needs an update.

Martin




------------------------------

Message: 4
Date: Tue, 12 Feb 2013 00:43:05 +0200
From: refik <address@hidden>
To: 'Paparazzi devel list' <address@hidden>
Subject: Re: [Paparazzi-devel] paparazzi software debug
Message-ID: <address@hidden>
Content-Type: text/plain; charset="utf-8"

Hello,

 

Thank you very much for your reply, Felix.

 

This is my first email to the paparazzi development list. I want to thank to
everybody who contributes to the development of paparazzi.

 

I am a lecturer in Electronics Engineering Department of Akdeniz University
in Turkey. We are trying to build an UAV in our university. We are learning
paparazzi nowadays. 

 

Now I am trying to debug paparazzi airborne software (fixed wing firmware)
and understand paparazzi in detail.  I am also beginner in C-programming.
Therefore, I do not exactly know how I can run  and debug paparazzi codes.
Which tools (eclipse etc.) do you use while developing a new hardware driver
and debug it?  

 

I want to ask, how I can integrate a new sensor ( an IMU including
gyroscope, accelerometer, magnetometer and barometer with I2C interface) to
paparazzi. 

 

Also, we will try to control a pan-tilt camera and we want to send commands
to the camera which has an UART. The camera also sends acknowledge and other
responses. We need to add these responses in telemetry messages. 

 

I have an umarim board, but it does not have a JTAG port for debugging. Do
you suggest Lisa board for debug? 

 

Best regards,

Refik

 

 

 

From: Felix Ruess [mailto:address@hidden 
Sent: Monday, February 11, 2013 5:07 PM
To: refik; Paparazzi devel list
Subject: Re: paparazzi software debug

 

Hi Refik,

 

first a request: if you have general questions like this, please post to the
mailing list instead of directly writing to me.

See http://paparazzi.enac.fr/wiki/Contact#Mailing_List

There are a lot more people who might be able to help you and others can
benefit from the answers as well :-)

 

It depends what part of the software you want to debug:

- if it's higher level code like flight plans, navigation, etc. (which is
hardware independent) you can do that in one of the simulators
<http://paparazzi.enac.fr/wiki/Simulation> .

- debugging hardware drivers is hard, you need to do that on the board via
JTAG <http://paparazzi.enac.fr/wiki/DevGuide/JTAG-Debug>  (and keep in mind
that you seriously change timing, etc. while debugging)

  unfortunately the umarim does not have a JTAG connector

 

 

Cheers, Felix

 

On Fri, Feb 8, 2013 at 4:44 PM, refik <address@hidden> wrote:

Dear Felix,

 

I am a lecturer in Electronics Engineering Department of Akdeniz University
in Turkey. We are trying to build an UAV in our university. 

 

I am a beginner of paparazzi. I bought umarim_lite_v2, FTDI_utility board,
and XBee Modem from PPZUAV. I installed paparazzi on Linux, and it works
fine.

 

Now I am trying to debug software and understand paparazzi in detail.  I am
also beginner in C-programming. Therefore, I do not exactly know how I can
run  and debug paparazzi codes. 

 

I want to debug airborne software in computer first. Then I want to debug it
on umar?m board.

 

How can I run and debug the airborne software? Could you please tell me the
basic steps. I installed eclipse on Linux. Do you recommend some other
tools?

 

When debugging the codes on computer, there will be no peripheral devices.
How can I debug without these peripherals? Do you recommend skip this step
and directly debug software on Umar?m board with all the sensors?

 

I want to develop my own codes ( integrate new sensor boards and develop
flight algorithms etc.) later. But before, I need to learn how to run and
debug the software. 

 

Thank you very much and best regards,

Refik

 

Dr. Refik Sever

Electrical and Electronics Engineering Dept.

Akdeniz University, Antalya, TURKEY

Phone: +905066128479 <tel:%2B905066128479> 

 

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