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From: | Eric BAHIER |
Subject: | Re: [Paparazzi-devel] motor command error on hexa------work arround progress |
Date: | Tue, 19 Mar 2013 18:42:56 +0100 |
User-agent: | Mozilla/5.0 (Windows NT 6.1; WOW64; rv:17.0) Gecko/20130307 Thunderbird/17.0.4 |
hello evrybody,
I have work on a work arround : If I create an hocto (with only 6 real motor), with the ADDR order 0x5E real DUMMY Ox52,054....0x5A real motor 0x60 DUMMY2.... ...****************see the email end to have the complet motor section... The six motors run correctly (trust test only actualy). If I change the motor order by the real order I need : <define name="ADDR" value="{ 0x5E, 0x5A, 0x5C, 0x58, 0x52, 0x56, 0x54, 0x60 }"/> The motors 0x58 and 0x56 don't start...... I config back to 52-->5C, and I continu the work arround, I fix the motor mixing to correct order <define name="ROLL_COEF" value="{0,0,+221,+221,-221,0,-221,0}"/> <define name="PITCH_COEF" value="{0, -256,-221,+221,+221,+256,-221 , 0}"/> <define name="YAW_COEF" value="{0, -256, -256, +256, +256, +256, -256, 0 }"/> <define name="THRUST_COEF" value="{256, +256, +256, +256, +256, +256, +256, 256 }"/> The 6 motors start correctly, I will verify the body to IMU.... and try to fly tomorow... I will back to you.. Any idea? Eric <subsystem name="motor_mixing"/> <define name="ACTUATORS_START_DELAY" value="10"/> <subsystem name="actuators" type="mkk"/> <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> </firmware> <!-- *********************************************************** --> <!-- *********************************************************** --> <!-- Adresse variateurs MKK --> <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <define name="NB" value="8"/> <define name="ADDR" value="{ 0x5E, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x60 }"/> </section> <!-- *********************************************************** --> <!-- *********************************************************** --> <!-- Configuration des moteurs --> <!--<servos min="0" neutral="0" max="0xff">--> <servos driver="Mkk"> <servo name="DUMMY" no="1" min="0" neutral="30" max="255"/> <servo name="FRONT" no="2" min="0" neutral="30" max="255"/> <servo name="FrontR" no="3" min="0" neutral="30" max="255"/> <servo name="BackR" no="4" min="0" neutral="30" max="255"/> <servo name="BACK" no="5" min="0" neutral="30" max="255"/> <servo name="BackL" no="6" min="0" neutral="30" max="255"/> <servo name="FrontL" no="7" min="0" neutral="30" max="255"/> <servo name="DUMMY2" no="8" min="0" neutral="30" max="255"/> </servos> <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <define name="NB" value="8"/> <define name="ADDR" value="{ 0x5E, 0x5A, 0x5C, 0x58, 0x52, 0x56, 0x54, 0x60 }"/> </section> Le 15/03/2013 10:24, Eric BAHIER a
écrit :
hi felix, -- ************************************ Lez Concept EURL Eric BAHIER 15 chemin neuf 34 980 Montferrier sur LEZ France Tel : 33 4 67 59 92 53 Fax : 33 9 59 15 92 53 ************************************ |
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