Re: [Paparazzi-devel] Pointing quadcopter?

[Ben Laurie]

On 20 November 2013 13:30, Felix Ruess <address@hidden> wrote:

Hi,

you can also use the rotorcraft_cam module to always point it towards a certain waypoint.

I tried this, but it didn't seem to do anything (heading stayed as it was on takeoff, I could change it in settings and it did change).

Here's what I have in the modules section...

  <modules main_freq="512">

    <load name="gps_ubx_ucenter.xml">

      <define name="GPS_PORT_ID" value="GPS_PORT_USB"/>

    </load>

    <load name="rotorcraft_cam.xml">

      <define name="DEFAULT_MODE" value="MODE_WP"/>

      <define name="TRACK_WP" value="CAM"/>

    </load>

    <!--load name="sys_mon.xml"/-->

  </modules>

What did I do wrong?

 

Cheers, Felix

On Wed, Nov 20, 2013 at 12:23 PM, Ben Laurie <address@hidden> wrote:

On 19 November 2013 18:57, Sergey Krukowski <address@hidden> wrote:

Afaik, there is a variable nav_heading in rotorcraft_guidance.xml. But seems that you have to manually calculate the heading. I'm not sure if the circle block under default flight plan is able to point the airframe. But it should not be to hard to add this feature.

Any hints where I'd have to look?

 

Best Regards,
Sergey

On 19 November 2013 16:57, Felix Ruess <address@hidden> wrote:

Hi,

of course it is a bit easier if your IMU already points in the direction
you consider the front of your multirotor.

Then you can just set the BODY_TO_IMU orientation<http://paparazzi.enac.fr/wiki/Subsystem/imu#Defining_the_orientation_of_the_IMU> to

zero (or only a few degrees to account for mounting misalignment).

But this is not a prerequisite, you can set any BODY_TO_IMU orientation
for AHRS int_cmpl_quat and it will deal with it correctly.
E.g. on my quadrotor I have the IMU mounted 45deg rotated as it was easier
to mount.

Regardless of how your IMU is oriented, you have to specify how your
motors are arranged (how many, turning direction, placement) in the
MOTOR_MIXING section.
The wiki lists common examples like a quadrotor + and x configuration, for
more advanced motor placement
http://paparazzi.enac.fr/wiki/RotorcraftMixing describes how to compute
the needed motor mixing.

That's not what I really meant, I think. I meant, can I create a flight
plan that says, for example, "fly from P1 to P2 while pointing at P3"?

Hope that helps,
Felix


On Tue, Nov 19, 2013 at 4:52 PM, Marius Pfeffer <address@hidden>wrote:

Hello

First you schould mount the imu facing the right position.

And second set the right xml parameters for motor mixing (aka supervision)
http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Motor_Mixing

Regards
Marius
Am 19.11.2013 10:27 schrieb "Ben Laurie" <address@hidden>:

 Is there a way to choose which way a quad points?


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