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[Paparazzi-devel] Creating an ornithopter

From: beryl.wicaksono
Subject: [Paparazzi-devel] Creating an ornithopter
Date: Mon, 23 Feb 2015 02:37:05 -0700 (MST)

Hi, I'm newbie to paparazzi, and I'm building a flapping wing micro aerial

I use Lisa/S as autopilot board, Spektrum DX6i as remote control, Superbit
USBRF as telemetry device, coreless motor as main motor, and 2 magnetic
actuator motor as rudder and elevator. 

Here is my XML file : 
airframe : airframe/ITB/bitfly_lisa_s.xml
flight plan : flight_plans/basic.xml,
settings : settings/superbitrf.xml , settings/control/stabilization_rate.xml
, settings/control/stabilization_att_int.xml ,
settings/control/ctl_basic.xml , settings/fixedwing_basic.xml
radio : radios/spektrum.xml
telemetry : telemetry/default_fixedwing.xml
module : modules/gps_ubx_ucenter.xml

Is it enough? or there's something missing configuration file? So I just
need to make a new airframe file, right? The other XML just left as before
(do not need any changes)?

Question about airframe configuration*

1. I confused to choose radio_control in subsytems, the type="spektrum" or
type="superbitrf_rc" ? If I want to fly the robot using the RC transmitter
first (manual mode) and then switched to autonomous.
2. How to configure my actuator subsystems ? As I said, I use 1 coreless
motor for main motor, and 2 magnetic actuator for elevator and rudder. Do
you have any suggestion of the configuration the subsytems for actuator?
3. What is this code used for? 
        <subsystem name="control"/>
        <subsystem name="navigation"/>
        <define name="AGR_CLIMB"/>
        <define name="LOITER_TRIM"/>
        <define name="STRONG_WIND"/>

Thank you in advance for your help. Btw, I still have question about the
airframe configuration XML.

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