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[Paparazzi-devel] Motor arming

From: Joey
Subject: [Paparazzi-devel] Motor arming
Date: Wed, 7 May 2014 02:15:50 -0700 (PDT) 
Hi all,

When I try to arm the motors with zero throttle and full yaw only one motor
will spin after applying full yaw, with the throttle stick kept down. The
other three motors only spins when I move the thrust stick up. Can anyone
help me with this problem?

My airframe file is as follows:

<!DOCTYPE airframe SYSTEM &quot;../airframe.dtd&quot;>



<airframe name="DrOne">

  <servos driver="Pwm">
    <servo name="FRONTRIGHT"   no="0" min="1000" neutral="1050" max="2000"/>
    <servo name="REARRIGHT"   no="1" min="1000" neutral="1050" max="2000"/>
    <servo name="REARLEFT"    no="2" min="1000" neutral="1050" max="2000"/>
    <servo name="FRONTLEFT"    no="3" min="1000" neutral="1050" max="2000"/>
  </servos>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

   <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"   value="{ -256, -256,  256,  256 }"/>
    <define name="PITCH_COEF"  value="{  256, -256, -256,  256 }"/>
    <define name="YAW_COEF"    value="{  256, -256,  256, -256 }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
  </section>


  <command_laws>
   <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="FRONTRIGHT" 
value="motor_mixing.commands[SERVO_FRONTRIGHT]"/>
    <set servo="REARRIGHT"  
value="motor_mixing.commands[SERVO_REARRIGHT]"/>
    <set servo="REARLEFT"  value="motor_mixing.commands[SERVO_REARLEFT]"/>
    <set servo="FRONTLEFT"  
value="motor_mixing.commands[SERVO_FRONTLEFT]"/>
  </command_laws>



<section name="IMU" prefix="IMU_">
    

 

    <define name="ACCEL_X_NEUTRAL" value="50"/>
    <define name="ACCEL_Y_NEUTRAL" value="23"/>
    <define name="ACCEL_Z_NEUTRAL" value="-35"/>
    <define name="ACCEL_X_SENS" value="4.88655662149" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.87360495603" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.84554588728" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>
    <define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
    <define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
    <define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
  </section>

 <section name="AUTOPILOT">
   <define name="MODE_MANUAL"   value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO1"    value="AP_MODE_HOVER_DIRECT"/>
   <define name="MODE_AUTO2"    value="AP_MODE_NAV"/>
 </section>

 <section name="BAT">
   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
   <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
   <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>  
   <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
 </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="GAIN_P" value="-300"/>
    <define name="GAIN_Q" value="-300"/>
    <define name="GAIN_R" value="-350"/>
  </section>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    
    <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
    <define name="SP_MAX_Q" value="RadOfDeg(90.)"/>
    <define name="SP_MAX_P" value="RadOfDeg(90.)"/>
    <define name="DEADBAND_R" value="150"/>
    <define name="DEADBAND_A" value="150"/>


    
   
    <define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
    <define name="REF_ZETA_R" value="0.90"/>
    <define name="REF_MAX_R" value="RadOfDeg(400.)"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
   
    <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
    <define name="REF_ZETA_Q" value="0.90"/>
    <define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
   
    <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
    <define name="REF_ZETA_P" value="0.90"/>
    <define name="REF_MAX_P" value="RadOfDeg(500.)"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    
   
    <define name="THETA_PGAIN" value="-600"/>
    <define name="THETA_DGAIN" value="-500"/>
    <define name="THETA_IGAIN" value="-20"/>
   
    <define name="PHI_PGAIN" value="-600"/>
    <define name="PHI_DGAIN" value="-500"/>
    <define name="PHI_IGAIN" value="-20"/>
   
    <define name="PSI_PGAIN" value="-2000"/>
    <define name="PSI_DGAIN" value="-470"/>
    <define name="PSI_IGAIN" value="-100"/>

    
    <define name="THETA_DDGAIN" value=" 200"/>
    <define name="PHI_DDGAIN"   value=" 200"/>
    <define name="PSI_DDGAIN"   value=" 200"/>

  </section>

  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="24.0" integer="16"/>
  </section>

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
   <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
   <define name="MAX_SUM_ERR" value="2000000"/>
   <define name="HOVER_KP" value="150"/>
   <define name="HOVER_KD" value="100"/>
   <define name="HOVER_KI" value="40"/>
   
   <define name="RC_CLIMB_COEF" value="163"/>
   
   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
   <define name="INV_M" value="0.21"/>
  </section>




  <section name="AHRS" prefix="AHRS_">
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="AHRS_MAG_UPDATE_YAW_ONLY"/>
    
    <define name="H_X" value=" 0.75127"/>
    <define name="H_Y" value=" 0.21477"/>
    <define name="H_Z" value=" 0.62406"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="5"/>
   <define name="DGAIN" value="10"/>
   <define name="IGAIN" value="1"/>
  </section>

  <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;,
&quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
   <define name="SENSORS_PARAMS"
value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>


  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0">
      
      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
      <configure name="FLASH_MODE" value="DFU"/>
    </target>

      <subsystem name="radio_control" type="ppm">
        <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> 
      </subsystem>

      <subsystem name="telemetry"       type="transparent">
       <configure name="MODEM_BAUD" value="B57600" />
       <configure name="MODEM_PORT" value="UART2" />
      </subsystem>

      <subsystem name="motor_mixing"/>
      <subsystem name="actuators"     type="pwm"/>
       


    <target name="sim" board="pc">
      <subsystem name="fdm" type="nps"/>
      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="actuators" type="pwm"/>
    </target>

    <subsystem name="imu" type="aspirin_v2.1"/>

    
 
    <subsystem name="ins"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs" type="int_cmpl_quat">
      
    </subsystem>

  </firmware>

</airframe>




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