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[Paparazzi-devel] servos on reacting on the tiny 1.1
From: |
C Kuo |
Subject: |
[Paparazzi-devel] servos on reacting on the tiny 1.1 |
Date: |
Sat, 18 Oct 2008 13:45:52 +0100 |
User-agent: |
Internet Messaging Program (IMP) 3.2.2 |
hi guys
i have currently playing around tiny 1.1 upto just before the test flight, and
have some problem with the servos and speed controller (they simply do get any
signal)
I have test every link on the ground, wireless link is ok, gps is ok, even on
the GCS, when i change my throttle level on my r/c controller, it shows on the
GCS as well, but some how, the servos just don't react.
here is my airframe file on the setting
<airframe name="FunJetmm Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1550" neutral="1550" max="1900"/>
<servo name="AILEVON_LEFT" no="2" min="1100" neutral="1504" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1900" neutral="1495" max="1100"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" 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>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="-0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</section>
command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
...etc
makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.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.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
and following is my r/c file
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Futaba T6EXAP" data_min="900" data_max="2100" sync_min ="5000"
sync_max ="15000">
<channel ctl="right_stick_horiz" function="ROLL" max="1074" neutral="1520"
min="1942" average="0"/>
<channel ctl="right_stick_vert" function="PITCH" min="1109" neutral="1521"
max="1938" average="0"/>
<channel ctl="left_stick_vert" function="THROTTLE" min="1107" neutral="1107"
max="1933" average="0"/>
<channel ctl="left_stick_horiz" function="YAW" min="1937" neutral="1524"
max="1103" average="0"/>
<channel ctl="switch_L" function="GAIN1" min="1100" neutral="1500"
max="3000" average="1"/>
<channel ctl="switch_R" function="MODE" min="1100" neutral="1500" max="1900"
average="1"/>
</radio>
Does any one have any idea?
Thanks
- [Paparazzi-devel] servos on reacting on the tiny 1.1,
C Kuo <=