[Paparazzi-devel] Gain parameters/kill Mode/Communications

[Cb]

Hi,
we now got our Papparazzi system working in Auto 1, the elevator is still
inducing slight oscillations but is sufficiently working.
Our Airframe is very well stabilized now for these first test flights we use
a Robbe Arcus which is similar to an easy Glider. 
Can anybody tell me which gain Parameters has to be tuned in which direction
to reduce these oscillations?
Directly after launching we get The Message: mayday Kill mode and nothing
else. 
When we look at our flight plan the map and the plan is shown as expected,
when we try to track the plane, we are somewhere else in the world. 
Anyone any suggestions?

While running the GCS we get the messages:

Failure("Pprz.values_of_payload, wrong argument: 00 08 ")
Failure("Pprz.values_of_payload, too many bytes: 00 03 9b 2a 00 00 00 00 00
00 00 00 00 00 00 00 ")
File "pprz.ml", line 371, characters 4-10: Assertion failed
We use a serial protocol for communications, the error could correspond with
the following data:
 
http://svn.savannah.gnu.org/svn/paparazzi/paparazzi3/trunk/sw/lib/ocaml/pprz
.ml 

In advance thanks for your help.

Christian


-----------------------------------------------------
Christian Behrens
Institut für Geowissenschaften
Sigwartstraße 10
72072 Tübingen
+49 (0)70712973136


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g] Im Auftrag von address@hidden
Gesendet: Montag, 9. August 2010 16:59
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Betreff: Paparazzi-devel Digest, Vol 77, Issue 9

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Today's Topics:

   1. Re: Paparazzi on Linux and Lisa design questions (Chris Gough)
   2. Re: I get a blank GCS when executing airframe (Edixon Giraldo)
   3. Xbee pro modules won't communicate (Edixon Giraldo)
   4. Re: Xbee pro modules won't communicate (maq)
   5. PPM board set up and radio communication (Edixon Giraldo)
   6. PPM board set up and radio communication (Edixon Giraldo)
   7. Re: Xbee pro modules won't communicate (Felix Ruess)


----------------------------------------------------------------------

Message: 1
Date: Mon, 9 Aug 2010 10:29:11 +1000
From: Chris Gough <address@hidden>
Subject: Re: [Paparazzi-devel] Paparazzi on Linux and Lisa design
        questions
To: address@hidden
Message-ID:
        <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1

I don't think restructuring the page hierarchy to different audiences
(with namespaces) is the answer, the existing page taxonomy (General,
Hardware, Software, Miscellaneous) is perfectly sensible.

What if there was a UserManual category (with subcategories such as
GettingStarted), where a less knowledge reader is assumed?

Also, this looks interesting (but might not be ripe yet)
http://www.mediawiki.org/wiki/Extension:DoxyWiki#English:_DoxyWiki_history_a
nd_rationale

Chris Gough


On Mon, Aug 9, 2010 at 6:25 AM, antoine drouin <address@hidden> wrote:
> a simpler bloc diagram :
>  http://paparazzi.enac.fr/wiki_images/Lisa_l_bloc_diag_simple.png
>
> I have started to split the doc for Lisa between a developer part and
> a user part, but it's still mostly empty for now.
> I think we should do the same for the rest of the wiki : users don't
> want to be overwhelmed with too technical informations, and developers
> don't want to lose time with a bunch of details that may look trivial
> to them.
>
> Now how do we get the search function of the wiki to handle that
> user/developer separation ? tags ? using two wikis ?
> What you guys think ?
>
> Regards
>
> Poine
>
> On Sat, Aug 7, 2010 at 11:52 AM, Tilman Baumann <address@hidden>
wrote:
>> Thanks.
>> I'm not sure if anything that complex should be my first contact with
>> paparazzi but it sounds totally awesome.
>> Will see, I have to probably ease myself into this whole thing module by
>> module, it is all happening under tight financial pressure. :)
>>
>> But I guess when I have that board and try some examples, I will find out
>> rather quick how it all fits together...
>>
>> Regards
>>  Tilman
>>
>> On 5 Aug 2010, at 21:51, antoine drouin wrote:
>>
>>> Hello Tilman
>>>
>>> There's a block schematic of Lisa/L on the wiki
>>>
>>> http://paparazzi.enac.fr/wiki/Image:Lisa_bd.png
>>>
>>> As you see, the board contains a STM32 (cortexM3 @ 72Mhz) with all
>>> peripherals exposed ( UARTS, I2C, SPI, ADCs, CAN, input capture, PWMs)
>>> and a socket for a gumstix Overo ( OMAP3 at 600Mhz). The link between
>>> the two processor is done by SPI and served by DMA on both sides (so
>>> alot of bandwith with little CPU overhead).
>>> This architecture is designed to be flexible: the STM32 has the
>>> potential to run all the current Paparazzi software alone ( that would
>>> be one side of the spektrum ) or the STM32 can be used only as IO
>>> processor and you can run your autopilot on the Overo ( that would be
>>> the other end of the spektrum ). Of course anything in between is
>>> possible, like for example running stabilization on the STM32 and
>>> navigation on the Overo.
>>>
>>> I'm not sure if that answers your questions. Sorry for the late answer
>>>
>>> Regards
>>>
>>> Poine
>>>
>>> ps: I know the doc about Lisa sucks. I'm focusing on software those
>>> days but I promise I'll work on documentation as soon as possible
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>> _______________________________________________
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>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>
> _______________________________________________
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>



-- 
.



------------------------------

Message: 2
Date: Mon, 9 Aug 2010 09:18:15 -0500
From: Edixon Giraldo <address@hidden>
Subject: Re: [Paparazzi-devel] I get a blank GCS when executing
        airframe
To: "address@hidden" <address@hidden>
Message-ID: <address@hidden>
Content-Type: text/plain;       charset=us-ascii

Ok, I figured out the problem. It was the FTDI board. The wires for the Tx
signal and the Rx signal were switched. Once I I switched them around the
GCS worked. However, I still cannot get the xbee's to communicate with each
other. 

Thanks.

Sent from my iPhone

On Aug 8, 2010, at 5:21 PM, antoine drouin <address@hidden> wrote:

> yes - and start a FAQ on the wiki when you've figured what was wrong
> 
> On Mon, Aug 9, 2010 at 12:12 AM, Felix Ruess <address@hidden>
wrote:
>> Hi Eddie,
>> 
>> the georef error occurs when your position is not yet initialized (
>> you got no messages from the autopilot ).
>> First get your link up and working before you can use the GCS.... you
>> should get messages with the messages tool from the Paparazzi Center.
>> If you have a FTDI serial<->USB cable you could connect that instead
>> of the XBees to see if your Airframe setup is good.
>> 
>> Others had the same problem before, try searching the mailing list
archives.
>> 
>> Cheers, Felix
>> 
>> On Sun, Aug 8, 2010 at 11:58 PM, Edixon Giraldo <address@hidden>
wrote:
>>> Hi Felix,
>>> 
>>> this is the error message I get:
>>> 
>>> 
>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/tmtc/link  -d
>>> /dev/ttyUSB0 -uplink  -s 57600'
>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/tmtc/server '
>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/cockpit/gcs '
>>> Thread 1 killed on uncaught exception Failure("#of_world : no georef")
>>> 
>>> uplink seems to be ok.
>>> 
>>> I get the 'georef error' when I click on the google earth icon and
>>> everything still blank.
>>> 
>>> here is my makefile code:
>>> 
>>> CONFIG = \"tiny_2_1_1.h\"
>>> 
>>> include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
>>> 
>>> FLASH_MODE=IAP
>>> 
>>> ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(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
>>> ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
>>> 
>>> #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
>>> -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
>>> #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
>>> 
>>> #Serial Modem
>>> ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
>>> -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
>>> -DDATALINK=PPRZ -DUART1_BAUD=B57600
>>> 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
>>> ap.srcs += $(SRC_ARCH)/adc_hw.c
>>> 
>>> ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B9600
>>> -DGPS_LED=2 -DGPS_USE_LATLONG
>>> ap.srcs += gps_ubx.c gps.c latlong.c
>>> 
>>> ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
>>> 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.srcs += nav_line.c
>>> ap.srcs += nav_survey_rectangle.c
>>> 
>>> ap.srcs += humid_sht.c
>>> ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
>>> 
>>> ap.srcs += baro_scp.c
>>> ap.CFLAGS += -DUSE_BARO_SCP
>>> 
>>> ap.srcs += joystick.c
>>> ap.CFLAGS += -DUSE_JOYSTICK
>>> 
>>> # Config for SITL simulation
>>> include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
>>> sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
>>> -DALT_KALMAN
>>> sim.srcs += nav_line.c nav_survey_rectangle.c
>>> 
>>> sim.srcs += joystick.c
>>> sim.CFLAGS += -DUSE_JOYSTICK
>>> 
>>> 
>>> Thanks.
>>> 
>>> Eddie.
>>> 
>>>> Date: Sat, 7 Aug 2010 13:10:35 +0200
>>>> Subject: Re: [Paparazzi-devel] I get a blank GCS when executing
airframe
>>>> From: address@hidden
>>>> To: address@hidden
>>>> 
>>>> Hi Eddie,
>>>> 
>>>> the GCS stays blank until you get telemetry messages.
>>>> So first you need to get your telemetry working. Check your cables,
>>>> settings and baudrates on the xbees as well as in the airframe file.
>>>> Also make sure you have the paparazzi udev rules copied and your
>>>> ground modem is recognized by your PC.
>>>> 
>>>> Cheers, Felix
>>>> 
>>>> On Sat, Aug 7, 2010 at 7:44 AM, Edixon Giraldo
<address@hidden>
>>>> wrote:
>>>>> Hi, I have not been able to execute my airframe on the GCS.  I have
been
>>>>> able to download the program to the TWOG and everything seems fine,
but,
>>>>> when I connect the FTDI cable, build, and execute my A/C, the GCS is
>>>>> just
>>>>> blank.  Just the black screen with no telemetry on it.  I have not
been
>>>>> able
>>>>> to use U-center either to configure my GPS or at least to verify is
>>>>> working
>>>>> and receiving a signal.  Can someone please help?
>>>>> 
>>>>> Thanks.
>>>>> 
>>>>> Eddie.
>>>>> 
>>>>> _______________________________________________
>>>>> Paparazzi-devel mailing list
>>>>> address@hidden
>>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>> 
>>>>> 
>>>> 
>>>> _______________________________________________
>>>> Paparazzi-devel mailing list
>>>> address@hidden
>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>> 
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>> 
>>> 
>> 
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> 
> 
> _______________________________________________
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> address@hidden
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> 



------------------------------

Message: 3
Date: Mon, 9 Aug 2010 09:28:11 -0500
From: Edixon Giraldo <address@hidden>
Subject: [Paparazzi-devel] Xbee pro modules won't communicate
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain;       charset=us-ascii

Hi, I have been working with this for hours and cannot make the xbee modules
to communicate with each other. I am very new at this, therefore, I am not
very familiar on bow to set them up to make one the coordinator and the
other one the server. Any ideas on how to do this in XTCU? I did find some
instructions on how to do this, but, it was not clear to me. It seems that
you have to type some commands on a terminal. I have also been trying to run
range tests and all, but, it is not successful. 
Any help will be greatly appreciated.

Thanks.

Eddie.

Sent from my iPhone


------------------------------

Message: 4
Date: Mon, 9 Aug 2010 16:43:21 +0200
From: maq <address@hidden>
Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=US-ASCII; format=flowed; delsp=yes

Did you already check out this guide? I used it successfully a few  
weeks ago.

http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee


Am 09.08.2010 um 16:28 schrieb Edixon Giraldo:

> Hi, I have been working with this for hours and cannot make the xbee  
> modules to communicate with each other. I am very new at this,  
> therefore, I am not very familiar on bow to set them up to make one  
> the coordinator and the other one the server. Any ideas on how to do  
> this in XTCU? I did find some instructions on how to do this, but,  
> it was not clear to me. It seems that you have to type some commands  
> on a terminal. I have also been trying to run range tests and all,  
> but, it is not successful.
> Any help will be greatly appreciated.
>
> Thanks.
>
> Eddie.
>
> Sent from my iPhone
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel




------------------------------

Message: 5
Date: Mon, 9 Aug 2010 09:48:30 -0500
From: Edixon Giraldo <address@hidden>
Subject: [Paparazzi-devel] PPM board set up and radio communication
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain;       charset=us-ascii

Hi, I am using a ppm board with my TWOG board. I have already hooked it up
to the receiver and the board, but, I don't have control of the servos with
my radio. I have a Spektrum

Sent from my iPhone


------------------------------

Message: 6
Date: Mon, 9 Aug 2010 09:55:26 -0500
From: Edixon Giraldo <address@hidden>
Subject: [Paparazzi-devel] PPM board set up and radio communication
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain;       charset=us-ascii


> 

> Hi, I am using a ppm board with my TWOG board. I have already hooked it up
to the receiver and the board, but, I don't have control of the servos with
my radio. I have a  Spektrum dx7. I was not sure on how to wire this up
either. The ppm manual shows a totally different ppm board. The one I have
seems to only have 6 channels and they are not marked as such. It only has 6
connections for signal wires and 4 more connections that are marked -, +, Tx
and Rx. My question also has to do with how to connect the wires.

Thanks

Eddie.
> 
> Sent from my iPhone




------------------------------

Message: 7
Date: Mon, 9 Aug 2010 16:59:18 +0200
From: Felix Ruess <address@hidden>
Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
To: address@hidden
Message-ID:
        <address@hidden>
Content-Type: text/plain; charset=UTF-8

Hi,

the configuration (coordinator needed or not) you need depends on
which version exactly you have.

Basically two different hardware/software stacks:
Digi XBee Pro 802.15.4 and Digi XBee Pro ZB

See http://paparazzi.enac.fr/wiki/Modems for that also

Cheers, Felix

On Mon, Aug 9, 2010 at 4:43 PM, maq <address@hidden> wrote:
> Did you already check out this guide? I used it successfully a few weeks
> ago.
>
> http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee
>
>
> Am 09.08.2010 um 16:28 schrieb Edixon Giraldo:
>
>> Hi, I have been working with this for hours and cannot make the xbee
>> modules to communicate with each other. I am very new at this, therefore,
I
>> am not very familiar on bow to set them up to make one the coordinator
and
>> the other one the server. Any ideas on how to do this in XTCU? I did find
>> some instructions on how to do this, but, it was not clear to me. It
seems
>> that you have to type some commands on a terminal. I have also been
trying
>> to run range tests and all, but, it is not successful.
>> Any help will be greatly appreciated.
>>
>> Thanks.
>>
>> Eddie.
>>
>> Sent from my iPhone
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>



------------------------------

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