<mailto:
address@hidden <mailto:
address@hidden>> wrote:
> > Ben
> >
> > I believe the maxstream packages use an FTDI USB-to-serial
converter chip
> (everything in linux is chip-specific). The FTDI driver is
already present
> and functional in Ubuntu so you may be all set. Type
"dmesg |
tail" after
> plugging in the modem and look for something about ftdi on
ttyusb0 or such.
> >
> > The ground modem can be any baud you want. Maxtream
and some
others allow
> independent configuration of the RF baud and serial port
baud to
allow the
> air and ground serial baud rates to be unequal so long as
the RF
rates are
> equal. Make sure your ap and airborne modem are at the
same baud
> (-DUART0_BAUD=B9600 in your case) and same for the gcs (link
line should have
> "-s 9600" or such to match the ground modem) and make
sure your
modems are
> each configured for their appropriate baud rates as well
(maybe
9600 is the
> default?).
> >
> > The RC modes are set in conf/radios/*.xml but I don't
know how
those
> settings get mapped to channels 1 thru 8. I usually use the
transmitter
> programming to change the channel of my switch until I
find the
one that
> works.
> >
> > Your airframe file looks ok but I should point out that the
GPS failsafe
> values on many of the cvs airframes are strange,
specifying 30%
throttle, 30
> degree pitch up, and 17 degree roll in the event of a
total loss
of GPS
> position info. It sounds to me more like a wild spin,
throttle-on crash and
> lipo fire. I advise something more like 0 throttle, 10
deg up
and 17 roll or
> whatever produces a gentle circling glide on your
airframe. I
think these
> pitch/roll values are used in "kill" mode as well so you can
test them in the
> air.
> >
____________________________________________________________
> > Fashion Design Education - Click Here!
> >
>
http://thirdpartyoffers.juno.com/TGL2141/fc/Ioyw6i3oIaxayhf6v0qyKFdfvXplzTMUHQ82EF1TvuOwIQPzEsrgkl/
> >
> >
------------------------------------------------------------------------
> >
> > Hi,
> >
> > I have a Tiny v2.11 autopilot with all the hardware
needed for
> > autonomous flight. I have started on the programming,
but have run
> > into a few difficulties.
> >
> > I have installed all the hardware in my aircraft, but
have not
gotten
> > any further than that succesfully. I am meant to be
demonstrating
> > autonomous flight a week from now, so it would be
really great
if I
> > could get the autopilot fully working by then.
> >
> > I am new to Linux, and have run into some problems
regarding the
> > programming. It would be extremely helpful if you could
provide some
> > assistance. I am using Ubuntu 8.04.1 - Hardy Heron
> >
> > I have been studying the Wiki and following it very
closely.
> >
> > This is what I need help with:
> >
> > - Installing the drivers for the radio modem (the
ground-station
> > modem. It plugs into the USB port and grabs the serial
signals. I'm
> > sure you know all about this... The readme file that
came with
it says
> > that I need to compile the driver into a 'Loadable Kernel
Module' but
> > I am unsure how to do this. The modem I am using is a Digi
(Maxstream)
> > 9XTend operating on 900MHz. I have been told that I may not
need to
> > install the driver, but can you please advise me on
what to do.
> >
> > - Configuring the rc radio settings: I am using a
6-channel JR
Radio.
> > I have found (using a scope) that my JR R700 7-channel
receiver
> > outputs the ppm signal through the 'signal' pin in the
battery
> > connector. I can attach a picture of the signal if you
want.
Also, how
> > do you choose which channel determines the mode? (Auto
1, Auto
2, Manual).
> >
> > - Configuring the airframe file: I have had a go at
making my own
> > airframe file (following the wiki), but are not sure if
it is
correct.
> > I have pasted the code at the bottom. My airframe is very
simple: A
> > 3-Channel Easystar. It also hope to be able to trigger
a servo for
> > controlling the shutter on a camera at a set position,
but I
will keep
> > it simple and focus on achieving autonomous flight first.
> >
> >
> > It would really be great if you could help me get this
working
within
> > the next week.
> >
> > Thankyou very much,
> >
> > Ben
> >
> >
> > Here is my airframe code:
> >
> > <!DOCTYPE airframe SYSTEM "airframe.dtd">
> >
> > <airframe name="EASYSTAR">
> > <!-- tiny v2.11 airframe -->
> >
> > <!-- commands section -->
> > <servos>
> > <servo name="THROTTLE" no="0" min="1000"
neutral="1500"
max="2000"/>
> > <servo name="RUDDER" no="2" min="1000" neutral="1500"
max="2000"/>
> > <servo name="ELEVATOR" no="6" min="1000" neutral="1500"
min="2000"/>
> > </servos>
> >
> > <commands>
> > <axis name="THROTTLE" failsafe_value="0"/>
> > <axis name="YAW" failsafe_value="0"/>
> > <axis name="PITCH" failsafe_value="0"/>
> > </commands>
> >
> > <rc_commands>
> > <set command="THROTTLE" value="@THROTTLE"/>
> > <set command="ROLL" value="@ROLL"/>
> > <set command="PITCH" value="@PITCH"/>
> > </rc_commands>
> >
> > <command_laws>
> > <set servo="THROTTLE" value="@THROTTLE"/>
> > <set servo="RUDDER" value="@ROLL"/>
> > <set servo="ELEVATOR" value="@PITCH"/>
> > </command_laws>
> >
> > <section name="AUTO1" prefix="AUTO1_">
> > <define name="MAX_ROLL" value="0.6"/>
> > <define name="MAX_PITCH" value="0.6"/>
> > </section>
> >
> > <section name="adc" prefix="ADC_CHANNEL_">
> > <define name="IR1" value="ADC_0"/>
> > <define name="IR2" value="ADC_1"/>
> > <define name="IR_TOP" value="ADC_6"/>
> >
> > </section>
> >
> > <section name="INFRARED" prefix="IR_">
> > <define name="ADC_IR1_NEUTRAL" value="512"/>
> > <define name="ADC_IR2_NEUTRAL" value="512"/>
> > <define name="ADC_TOP_NEUTRAL" value="512"/>
> > <define name="IR2_SIGN" value="-1"/>
> > <define name="TOP_SIGN" value="-1"/>
> > <define name="HORIZ_SENSOR_TILTED" value="1"/>
> > <define name="LATERAL_CORRECTION" value="1"/>
> > <define name="LONGITUDINAL_CORRECTION" value="1"/>
> > <define name="VERTICAL_CORRECTION" value="1"/>
> > <define name="ROLL_NEUTRAL_DEFAULT" value="0"
unit="deg"/>
> > <define name="PITCH_NEUTRAL_DEFAULT" value="0"
unit="deg"/>
> > <define name="CORRECTION_UP" value="1"/>
> > <define name="CORRECTION_DOWN" value="1"/>
> > <define name="CORRECTION_LEFT" value="1"/>
> > <define name="CORRECTION_RIGHT" value="1"/>
> >
> > </section>
> >
> > <section name="BAT">
> > <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
> > <define name="CATASTROPHIC_BAT_LEVEL" value="5.5"
unit="V"/>
> > </section>
> >
> > <section name="MISC">
> > <define name="NOMINAL_AIRSPEED" value="7" unit="m/s"/>
> > <define name="CARROT" value="5." unit="s"/>
> > <define name="KILL_MODE_DISTANCE"
value="(1.5*MAX_DIST_FROM_HOME)"/>
> > <define name="CONTROL_RATE" value="60" unit="Hz"/>
> > </section>
> >
> > <section name="PID">
> > <define name="ROLL_PGAIN" value="5000."/>
> > <define name="PITCH_OF_ROLL" value="0.25"/>
> > <define name="PITCH_PGAIN" value="10000."/>
> > <define name="MAX_ROLL" value="0.35"/>
> > <define name="MAX_PITCH" value="0.35"/>
> > <define name="MIN_PITCH" value="-0.35"/>
> > <define name="AILERON_OF_THROTTLE" value="0.0"/>
> > <define name="CRUISE_THROTTLE" value="0.35"/>
> > </section>
> >
> > <section name="ALT" prefix="CLIMB_">
> > <define name="PITCH_PGAIN" value="-0.05"/>
> > <define name="PITCH_IGAIN" value="0.075"/>
> > <define name="PGAIN" value="-0.01"/>
> > <define name="IGAIN" value="0.1"/>
> > <define name="MAX" value="1."/>
> > <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
> > <define name="THROTTLE_OF_CLIMB" value="0.15"
unit="%/(m/s)"/>
> > </section>
> >
> > <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
> > <define name="COURSE_PGAIN" value="-0.4"/>
> > <define name="ROLL_MAX_SETPOINT" value="0.6"
unit="radians"/>
> > <define name="PITCH_MAX_SETPOINT" value="0.5"
unit="radians"/>
> > <define name="PITCH_MIN_SETPOINT" value="-0.5"
unit="radians"/>
> >
> >
> > <define name="ROLL_PGAIN" value="5000."/>
> > <define name="AILERON_OF_THROTTLE" value="0.0"/>
> > <define name="PITCH_PGAIN" value="-9000."/>
> > <define name="PITCH_DGAIN" value="1.5"/>
> >
> > <!-- roll rate loop -->
> > <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
> > <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5."
unit="rad/s/rad"/>
> > <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
> > <define name="LO_THROTTLE_ROLL_RATE_PGAIN"
value="1000."/>
> > <define name="HI_THROTTLE_ROLL_RATE_PGAIN"
value="1000."/>
> > <define name="ROLL_RATE_IGAIN" value="0"/>
> > <define name="ROLL_RATE_DGAIN" value="0"/>
> > <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
> >
> > </section>
> >
> > <section name="VERTICAL CONTROL" prefix="V_CTL_">
> >
> > <define name="POWER_CTL_BAT_NOMINAL" value="6"
unit="volt"/>
> > <!-- outer loop proportional gain -->
> > <define name="ALTITUDE_PGAIN" value="-0.03"/>
> > <!-- outer loop saturation -->
> > <define name="ALTITUDE_MAX_CLIMB" value="2."/>
> >
> > <!-- auto throttle inner loop -->
> > <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.4"/>
> > <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"
value="0.30"/>
> > <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"
value="0.80"/>
> > <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
> > <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
> > <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"
value="0.15"
> > unit="%/(m/s)"/>
> > <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
> > <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
> > <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"
value="0.05"/>
> >
> > <!-- auto pitch inner loop -->
> > <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
> > <define name="AUTO_PITCH_IGAIN" value="0.075"/>
> > <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
> > <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
> >
> > <define name="THROTTLE_SLEW" value="0.1"/>
> >
> > </section>
> >
> >
> > <section name="NAV">
> > <define name="NAV_PITCH" value="0.0"/>
> > <define name="NAV_GLIDE_PITCH_TRIM" value="0.2"/>
> > <define name="DEFAULT_CIRCLE_RADIUS" value="100"
unit="m"/>
> > </section>
> >
> > <section name="AGGRESSIVE" prefix="AGR_">
> > <define name="CLIMB_THROTTLE" value="0.95"/><!--
Throttle for
> > Aggressive Climb -->
> > <define name="DESCENT_THROTTLE" value="0.1"/><!--
Throttle for
> > Aggressive Decent -->
> > <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for
Aggressive
> > Climb -->
> > <define name="DESCENT_PITCH" value="-0.25"/><!--
Pitch for
> > Aggressive Decent -->
> > <define name="BLEND_START" value="20"/><!--
Altitude Error to
> > Initiate Aggressive Climb CANNOT BE ZERO!!-->
> > <define name="BLEND_END" value="10"/><!-- Altitude
Error
to Blend
> > Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
> > <define name="CLIMB_NAV_RATIO" value="0.8"/><!--
Percent
> > Navigation for Altitude Error Equal to Start Altitude -->
> > <define name="DESCENT_NAV_RATIO" value="1.0"/>
> > </section>
> >
> >
> > <section name="FAILSAFE" prefix="FAILSAFE_">
> > <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
> > <define name="DEFAULT_THROTTLE" value="0.3"
unit="%"/>
> > <define name="DEFAULT_ROLL" value="0.3"
unit="rad"/>
> > <define name="DEFAULT_PITCH" value="0.5"
unit="rad"/>
> > <define name="HOME_RADIUS" value="100" unit="m"/>
> > </section>
> >
> > <!--
> > <section name="DATALINK" prefix="DATALINK_">
> > <define name="DEVICE_TYPE" value="PPRZ"/>
> > <define name="DEVICE_ADDRESS" value="...."/>
> > </section>
> > -->
> >
> >
> > <makefile>
> > include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
> >
> > FLASH_MODE=IAP
> >
> > ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED
-DTIME_LED=1
> > ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c
> > main_fbw.c main_ap.c main.c
> >
> > ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0
> > -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0
-DLED_6_PIN=20
> >
> >
> > ap.srcs += commands.c
> >
> > ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
> > ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
> >
> > ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_JR
> > ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
> >
> > ap.CFLAGS += -DDOWNLINK -DUSE_UART0
-DDOWNLINK_TRANSPORT=PprzTransport
> > -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0
> > -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
> > ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
> > pprz_transport.c latlong.c
> >
> >
> > ap.CFLAGS += -DINTER_MCU
> > ap.srcs += inter_mcu.c
> >
> > ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3
-DUSE_AD1
> > -DUSE_AD1_5 -DUSE_AD1_3 -DUSE_AD1_5
> > ap.srcs += $(SRC_ARCH)/adc_hw.c
> >
> > ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
-DUART1_BAUD=B9600
> >
> > ap.srcs += gps_ubx.c gps.c
> >
> > ap.CFLAGS += -DINFRARED
> > ap.srcs += infrared.c estimator.c
> >
> > ap.CFLAGS += -DNAV
> > ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
nav_survey_rectangle.c
nav_line.c
> >
> >
> > ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
> > ap.srcs += gyro.c
> >
> > # Harware In The Loop
> >
> > #ap.CFLAGS += -DHITL
> >
> > # Config for SITL simulation
> > include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
> > sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
> > sim.srcs += nav_survey_rectangle.c traffic_info.c
nav_line.c
> > </makefile>
> > </airframe>
> >
> >
------------------------------------------------------------------------
> >
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