AW: Re: AW: Re: [Paparazzi-devel] Problem using USB joystick+telemetry link as RC replacement

[address@hidden]

Hi Gautier,

thanks for your help! Today I managed to get the right messages sent to the 
aircraft, now roll/pitch/throttle can be 
controlled by the joystick. :-)

Now the servos seem as they cannot decide which specifications to follow, the 
one from the autopilot and attitude 
control or that from the USB joystick: they jump around. E.g. even if I give 
full throttle, the motor controller seems 
to toggle between full and no throttle.

If I move the joystick, any value != 0 should override the autopilots steering 
commands in order to have control  
over the airplane even if does weard things.
I did a quick view of http://paparazzi.enac.fr/wiki/Theory_of_Operation but I 
need to understand how the values for 
roll/pitch and throttle are calculated. Exists an overview how the values are 
handed over  from main_ap.c, nav.c and 
fw_h_ctl.c? Think I will print out these files and take them to bed with me for 
reading this night. :-)

Best, Rainer

----Ursprüngliche Nachricht----
Von: address@hidden
Datum: 23.05.2009 14:43
An: <address@hidden>
Betreff: Re: AW: Re: [Paparazzi-devel] Problem using USB joystick+telemetry 
link as RC replacement

Hi,
you don't need to set a callback function, it is only for reading 
messages, not sending them. If you have a look at datalink.c the message 
JOYSTICK_RAW is parsed if the flag USE_JOYSTICK is set in the makefile 
section. The structure of this message is in conf/messages.xml and you 
can send it with IvySendMsg (works like printf). Have a look in 
sw/logalizer/ctrlstick.c, I think it's the original program of Martin.

Gautier

address@hidden a écrit :
> Hi Gautier,
>
> thanks for the info! But independant of that - how can I use/interpret 
> messages in the airframe beiing sent by 
the 
> groundstation?
>
> Is there some documentation about how messages to the Ivy software bus are 
> needed to be named and configured in 
the 
> XMLs?
>
> I did a quick view in the Ivy documentation and I see that callback messages 
> for specific message names need to 
be 
> configured. How are the callbacks in the groundstation sent to the airplane 
> and where are they parsed?
> How does all the XML config and code generation work together, is there 
> somewhere a concept documentation?
>
> Best, Rainer
>
>
> ----Ursprüngliche Nachricht----
> Von: address@hidden
> Datum: 23.05.2009 13:11
> An: <address@hidden>, <address@hidden>
> Betreff: Re: [Paparazzi-devel] Problem using USB joystick+telemetry link as 
> RC replacement
>
> Hi,
>
> The program main_stick in sw/ground_segment/joystick is not designed for 
> the fixed wing airframes. I'm using it for booz airframes right now. But 
> it is possible to adapt it to airplanes. The library usb_stick.h in 
> sw/ground_segment/joystick is derived from Martin's work. He has already 
> used joystick with a workaround in the flight plan and the file 
> joystick.c you've compiled (that's why it is supposed to work only in 
> auto2). Maybe he can explain how to use it.
>
> Gautier
>
> address@hidden a écrit :
>   
>> Hi,
>>
>> is there a chance to use a USB joystick at the groundstation as RC 
>> replacement via the telemetry link?
>>
>> I experimented a bit with the XML configs, added joystick.c to the airframe 
>> configuration and started the 
>> main_stick 
>> program.
>> main_stick recognizes the USB joystick and sends its positions (debug). How 
>> can I view/add this info to the 
>> messages 
>> window?
>>
>> How does mapping of the USB joystick axis/buttons to the autopilot variables 
>> roll,pitch etc. work?
>>
>> Can the USB joystick be used for ´normal` flight? I found only a if (MODE2 
>> and flight plan block joystick 
active) 
>> statement in the code, changing it to if (1) didn`t help to move the rudders 
>> with the joystick...
>>
>> Help please  :-) 
>>
>> Best, Rainer
>>
>>
>>
>> _______________________________________________
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>>
>>