On Thu, Jul 16, 2009 at 3:53 PM, Martin P
<address@hidden> wrote:
Hi all,
I have been searching the list archive about mayday, throttle, etc and found postings describing problems getting the trhottle in AUTO2. I am not yet as far as this.
I did all the entries in the radio and airframe files and I am able to move ailerons, elevator and rudder in manual mode.
For test, I attached a little servo to the throttle channel and hoped to be able to move it with the throttle stick on my RX. It does not work.
When I look at the "commands" in the message tool, I see a change when I move the stick.
When I look at the "actuators" in the message tool, I do not see a change when I move the stick.
In the GCS, the throttle is 0% and the symbol is red,
I also get a "mayday kill mode" in the GCS even though the voltage is above critical and low voltages. Sometimes I get to the "holding point" but in the moment I am not even able to go beyond "geo init" block (using a flight plan that is derived from funjet1) although the GPS has a fix and the aircraft symbol is shown in the map.
Greetings, Martin
PS: I attach the GCS output, radio, airframe and flightplan
--------
23:05:26 MJ5, UNK
23:05:26 MJ5, mayday, kill mode
23:05:28 MJ5, AUTO2
23:05:29 MJ5, Wait GPS
23:21:06 MJ5, NOGPS
23:25:14 MJ5, Geo init
23:25:14 MJ5, AUTO2
23:25:15 MJ5, MANUAL
23:25:15 GPS acc: 56 m
23:25:17 GPS acc: 27 m
23:25:19 GPS acc: 21 m
23:25:21 MJ5, HOME
23:25:21 GPS acc: 19 m
23:25:23 GPS acc: 18 m
23:25:25 GPS acc: 17 m
23:25:27 GPS acc: 16 m
23:25:37 GPS acc: 15 m
23:31:21 GPS acc: 16 m
23:31:27 GPS acc: 15 m
23:42:39 GPS acc: 16 m
23:42:41 GPS acc: 18 m
23:42:45 GPS acc: 17 m
23:42:47 GPS acc: 15 m
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="futaba-fx18" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000">
<channel ctl="A" function="ROLL" min="1000" neutral="1498" max="2000" average="0"/>
<channel ctl="B" function="PITCH" min="1000" neutral="1498" max="2000" average="0"/>
<channel ctl="C" function="THROTTLE" min="1120" neutral="1120" max="2000" average="0"/>
<channel ctl="D" function="YAW" min="1000" neutral="1498" max="2000" average="0"/>
<channel ctl="E" function="MODE" min="2000" neutral="1500" max="1000" average="1"/> <!-- Top right switch -->
<channel ctl="F" function="CALIB" min="2000" neutral="1500" max="1000" average="1"/> <!-- left bottom slider -->
<!--channel ctl="G" function="GAIN1" min="2000" neutral="1498" max="1000" average="1"/--> <!-- center slider -->
</radio>
--------------------------airframe---------------------
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
Radiotronix modem
-->
<airframe name="Funjet 1 Tiny 2.1">
<!-- commands section -->
<servos>
<servo name="AILERON" no="0" min="1980" neutral="1515" max="1170"/>
<servo name="ELEVATOR" no="2" min="1130" neutral="1500" max="1880"/>
<servo name="MOTOR" no="3" min="2000" neutral="1000" max="1000"/>
<servo name="RUDDER" no="4" min="1980" neutral="1515" max="1170"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<command_laws>
<set servo="AILERON" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="RUDDER" value="@YAW"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="513"/>
<define name="ADC_TOP_NEUTRAL" value="509"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="-1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" 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="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="28000" unit="mA" /><!--MP-->
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/><!--MP-->
<define name="LOW_BAT_LEVEL" value="11.0" unit="V"/><!--MP-->
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/><!--MP-->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." 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"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="MIN_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
<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="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- 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="0.5"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-10000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<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_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
<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="GYRO_GAINS">
<define name="GYRO_MAX_RATE" value="200."/>
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
<define name="ALT_ROLL__PGAIN" value="1.0"/>
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
<define name="ROLL_RATE_IGAIN" value="0.0"/>
<define name="ROLL_RATE_DGAIN" value="0.0"/>
</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="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<section name="Digital camera telecommand">
<!-- IOs are seen as LEDs -->
<define name="LED_6_BANK" value="0"/>
<define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
<!-- ADC 5 -->
<define name="LED_7_BANK" value="0"/>
<define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
<define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
<define name="DC_ZOOM_LED" value="7"/>
</section>
<makefile>
CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -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_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c nav_line.c
ap.srcs += nav_survey_rectangle.c
# chemotaxis.c anemotaxis.c discsurvey.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
########## Chemo sensor (I2C)
#ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c
#ap.CFLAGS += -DUSE_I2C -DENOSE
# Digital camera
# Shutter: I2C SCL
# Zoom: I2C SDA
ap.CFLAGS += -DDIGITAL_CAM
ap.srcs += dc.c
# 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_line.c nav_survey_rectangle.c
# -DENOSE
# chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
sim.srcs += dc.c
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
</makefile>
</airframe>
-----------------------------------
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="75" ground_alt="0" lat0="48.206111111" lon0="16.377222222" max_dist_from_home="1500" name="Frauenkirchen" security_height="25">
<header>
#include "nav_line.h"
#include "datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="49.5" y="100.1"/>
<waypoint name="1" x="-108.0" y="129.4"/>
<waypoint name="2" x="64.6" y="-23.6"/>
<waypoint name="MOB" x="137.0" y="-11.6"/>
<waypoint name="S1" x="-119.2" y="69.6"/>
<waypoint name="S2" x="274.4" y="209.5"/>
<waypoint alt="30.0" name="AF" x="25.5" y="-17.7"/>
<waypoint alt="0.0" name="TD" x="-100.9" y="82.6"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
</waypoints>
<exceptions/>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="estimator_z > ground_alt+25" deroute="Flugprogramm1"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="estimator_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="Flugprogramm1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
<go wp="1" approaching_time="0"/>
<go wp="2" approaching_time="0"/>
<go wp="1" approaching_time="0"/>
<go wp="2" approaching_time="0"/>
<deroute block="Land Right AF-TD"/>
</block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle radius="nav_radius" wp="MOB"/>
</block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
</block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>
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