Re: [Paparazzi-devel] Re: Eagle tree Speed sensor (Felix Ruess)

[Felix Ruess]

Hi Christian,

sorry, I still had a commit sitting in my tree here. Committed to svn now.
I removed the raw adc values from the airspeed message.

Should work now.
And you will probably need to run make before you build the aircraft
again since the messages changed.

Cheers, Felix

On Wed, Oct 27, 2010 at 11:15 AM, Christian Behrens
<address@hidden> wrote:
> Hi Felix,
> we updated the modules and now  get the follwing:
> -------------------------------------------------------------
> main_ap.c: In function `reporting_task':
> main_ap.c:210: Fehler: `adc_airspeed_val' undeclared (first use in this
> function)
> main_ap.c:210: Fehler: (Each undeclared identifier is reported only once
> main_ap.c:210: Fehler: for each function it appears in.)
> make[1]: ***
> [/home/paparazzi/paparazzi3/var/Twinstar_2_B/ap/./main_ap.o] Fehler 1
> make[1]: Verlasse Verzeichnis '/home/paparazzi/paparazzi3/sw/airborne'
> make: *** [ap.compile] Fehler 2
> make: Verlasse Verzeichnis '/home/paparazzi/paparazzi3'
>
> DONE (exec make -C /home/paparazzi/paparazzi3 -f Makefile.ac
> AIRCRAFT=Twinstar_2_B ap.compile  2>&1)
> ---------------------------------------------------------------
>
> what we put in our  airframe File:
> ---------------------------------------------------------------
>  <firmware name="fixedwing">
>    <target name="ap"                   board="tiny_2.11">
>      <define name="LOITER_TRIM"/>
>      <define name="ALT_KALMAN"/>
>      <define name="AGR_CLIMB"/>
>      <define name="WIND_INFO"/>
>      <define name="USE_I2C0"/>
>    </target>
>
>    <target name="sim"                  board="pc">
>      <define name="LOITER_TRIM"/>
>      <define name="ALT_KALMAN"/>
>      <define name="AGR_CLIMB"/>
>      <define name="WIND_INFO"/>
>    </target>
>
>    <subsystem name="radio_control" type="ppm"/>
>    <subsystem name="telemetry"     type="xbee_api">
>      <param name="MODEM_BAUD"      value="B57600"/>
>    </subsystem>
>    <subsystem name="control"/>
>    <subsystem name="attitude"      type="infrared"/>
>    <subsystem name="gps"           type="ublox_lea5h"/>
>    <subsystem name="navigation"    type="extra"/>
>    <subsystem name="i2c"/>
> <!--this includes OSAMNav, nav, discsurvey and nav_cube as well-->
>  </firmware>
>
>  <modules>
>    <load name="baro_scp.xml"/>
>    <load name="airspeed_ets.xml"/>
>  </modules>
>
> ----------------------------------------------------------------
> greets
>
> Christian
>
>
> Am Dienstag, den 26.10.2010, 12:00 -0400 schrieb
> address@hidden:
>> Send Paparazzi-devel mailing list submissions to
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>> When replying, please edit your Subject line so it is more specific
>> than "Re: Contents of Paparazzi-devel digest..."
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>>
>> Today's Topics:
>>
>>    1. Eagle tree Speed sensor (Christian Behrens)
>>    2. Re: Eagle tree Speed sensor (Felix Ruess)
>>    3. motor current calculation ? (Chris)
>>    4. Re: motor current calculation ? (Reto B?ttner)
>>    5. Re: Eagle tree Speed sensor (Felix Ruess)
>>    6. updated udev rules (Felix Ruess)
>>
>>
>> ----------------------------------------------------------------------
>>
>> Message: 1
>> Date: Tue, 26 Oct 2010 11:31:40 +0200
>> From: Christian Behrens <address@hidden>
>> Subject: [Paparazzi-devel] Eagle tree Speed sensor
>> To: address@hidden
>> Message-ID: <address@hidden>
>> Content-Type: text/plain; charset="UTF-8"
>>
>> Hi Guys,
>> we want to use the eagle tree sensors for speed and altitude.
>> We used the modules from paparazi.
>> We can receive Data from the modules, but when the plane is not moving
>> it sends about 20 m/s. If we slightly blow into the module there is no
>> change in the values.
>> Did we miss some Details??
>> Our plane works great, since yesterday, thanks to all who helped us in
>> the past and the whole comunity.
>>
>> Thanks a lot again
>>
>>
>> Christian
>>
>>
>>
>>
>>
>> ------------------------------
>>
>> Message: 2
>> Date: Tue, 26 Oct 2010 11:34:56 +0200
>> From: Felix Ruess <address@hidden>
>> Subject: Re: [Paparazzi-devel] Eagle tree Speed sensor
>> To: address@hidden
>> Message-ID:
>>       <address@hidden>
>> Content-Type: text/plain; charset=UTF-8
>>
>> Hi Christian,
>>
>> can you please post your airframe file?
>> We will need your help on this one since we don't have any ETS sensors
>> to test with.
>>
>> Cheers, Felix
>>
>> On Tue, Oct 26, 2010 at 11:31 AM, Christian Behrens
>> <address@hidden> wrote:
>> > Hi Guys,
>> > we want to use the eagle tree sensors for speed and altitude.
>> > We used the modules from paparazi.
>> > We can receive Data from the modules, but when the plane is not moving
>> > it sends about 20 m/s. If we slightly blow into the module there is no
>> > change in the values.
>> > Did we miss some Details??
>> > Our plane works great, since yesterday, thanks to all who helped us in
>> > the past and the whole comunity.
>> >
>> > Thanks a lot again
>> >
>> >
>> > Christian
>> >
>> >
>> >
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >
>>
>>
>>
>> ------------------------------
>>
>> Message: 3
>> Date: Tue, 26 Oct 2010 14:01:40 +0300
>> From: Chris <address@hidden>
>> Subject: [Paparazzi-devel] motor current calculation ?
>> To: address@hidden
>> Message-ID: <address@hidden>
>> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
>>
>> Hi.
>> I was watching my plane's current draw at various throttle levels  and
>> it looks like the calculation is a bit off.
>> When the throttle is at 50% the current draw is ~25% of the:
>> <define name="MILLIAMP_AT_FULL_THROTTLE" value="40000"/>
>> It is logical since at 50% rpm the propeller only produces 25% of it's
>> full rpm power.
>> Here is what i used instead in main_fbw.c file (broken down for clarity):
>> #if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE)
>> #ifdef COMMAND_THROTTLE
>>      float percent_throttle =
>> (float)commands[COMMAND_THROTTLE]/(float)MAX_PPRZ;
>>      percent_throttle *= percent_throttle;
>>      fbw_current_milliamp = Min((percent_throttle *
>> (float)MILLIAMP_AT_FULL_THROTTLE), 65000);
>> //    fbw_current_milliamp = Min(((float)commands[COMMAND_THROTTLE]) *
>> ((float)MILLIAMP_AT_FULL_THROTTLE) / ((float)MAX_PPRZ), 65000);
>> #endif
>> #   endif
>>
>> Is this correct or i am doing something wrong?
>>
>>
>>
>>
>> ------------------------------
>>
>> Message: 4
>> Date: Tue, 26 Oct 2010 13:28:11 +0200
>> From: Reto B?ttner <address@hidden>
>> Subject: Re: [Paparazzi-devel] motor current calculation ?
>> To: address@hidden
>> Message-ID:
>>       <address@hidden>
>> Content-Type: text/plain; charset=ISO-8859-1
>>
>> Hi Chris,
>>
>> as you mention correctely the current is very non-linear in respect to
>> the throttle. In paparazzi this is simpified and approximated using a
>> linear function. The energy estimate works pretty well if it is tuned
>> to a certain working point and you have similar flight patterns.
>>
>> If you need a more precise current estimate that works on various
>> working points I recommend to use a superellipse instead of a linear
>> function. See: http://en.wikipedia.org/wiki/Superellipse
>>
>> I cannot give you code for this, as I have not implemented it yet myself.
>>
>> Good luck,
>> Reto
>>
>> 2010/10/26 Chris <address@hidden>:
>> > Hi.
>> > I was watching my plane's current draw at various throttle levels and it
>> > looks like the calculation is a bit off.
>> > When the throttle is at 50% the current draw is ~25% of the:
>> > <define name="MILLIAMP_AT_FULL_THROTTLE" value="40000"/>
>> > It is logical since at 50% rpm the propeller only produces 25% of it's full
>> > rpm power.
>> > Here is what i used instead in main_fbw.c file (broken down for clarity):
>> > #if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE)
>> > #ifdef COMMAND_THROTTLE
>> >  float percent_throttle =
>> > (float)commands[COMMAND_THROTTLE]/(float)MAX_PPRZ;
>> >  percent_throttle *= percent_throttle;
>> >  fbw_current_milliamp = Min((percent_throttle *
>> > (float)MILLIAMP_AT_FULL_THROTTLE), 65000);
>> > //  fbw_current_milliamp = Min(((float)commands[COMMAND_THROTTLE]) *
>> > ((float)MILLIAMP_AT_FULL_THROTTLE) / ((float)MAX_PPRZ), 65000);
>> > #endif
>> > #  endif
>> >
>> > Is this correct or i am doing something wrong?
>> >
>> >
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >
>>
>>
>>
>> ------------------------------
>>
>> Message: 5
>> Date: Tue, 26 Oct 2010 13:36:51 +0200
>> From: Felix Ruess <address@hidden>
>> Subject: Re: [Paparazzi-devel] Eagle tree Speed sensor
>> To: address@hidden
>> Message-ID:
>>       <address@hidden>
>> Content-Type: text/plain; charset=UTF-8
>>
>> Hi Christian,
>>
>> I just committed some fixes for the ETS modules, please update from
>> SVN and let me know if it works.
>> The wiki page http://paparazzi.enac.fr/wiki/Airspeed_sensor is also
>> updated to reflect the current situation.
>>
>> Cheers, Felix
>>
>> On Tue, Oct 26, 2010 at 11:34 AM, Felix Ruess <address@hidden> wrote:
>> > Hi Christian,
>> >
>> > can you please post your airframe file?
>> > We will need your help on this one since we don't have any ETS sensors
>> > to test with.
>> >
>> > Cheers, Felix
>> >
>> > On Tue, Oct 26, 2010 at 11:31 AM, Christian Behrens
>> > <address@hidden> wrote:
>> >> Hi Guys,
>> >> we want to use the eagle tree sensors for speed and altitude.
>> >> We used the modules from paparazi.
>> >> We can receive Data from the modules, but when the plane is not moving
>> >> it sends about 20 m/s. If we slightly blow into the module there is no
>> >> change in the values.
>> >> Did we miss some Details??
>> >> Our plane works great, since yesterday, thanks to all who helped us in
>> >> the past and the whole comunity.
>> >>
>> >> Thanks a lot again
>> >>
>> >>
>> >> Christian
>> >>
>> >>
>> >>
>> >> _______________________________________________
>> >> Paparazzi-devel mailing list
>> >> address@hidden
>> >> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >>
>> >
>>
>>
>>
>> ------------------------------
>>
>> Message: 6
>> Date: Tue, 26 Oct 2010 15:55:45 +0200
>> From: Felix Ruess <address@hidden>
>> Subject: [Paparazzi-devel] updated udev rules
>> To: Paparazzi devel list <address@hidden>
>> Message-ID:
>>       <address@hidden>
>> Content-Type: text/plain; charset=UTF-8
>>
>> Hi all,
>>
>> I just updated the udev rules again since the symlinks for the FTDI
>> serial adapters (and the xbees) were not set. The rules were not
>> matching because we skipped to the end if it was not a usb device.
>>
>> If you want your own xbee to be recognized (and symlinked to
>> /dev/paparazzi/xbee) you can uncomment the respective line and fill in
>> your specific serial. To find out your serial run
>>   devadm info -q all -p /sys/class/tty/ttyUSB0 --attribute-walk | grep serial
>> In my case it is ATTRS{serial}=="A80081ej"
>>
>> If the ftdi adapter added does not match the serial number then it
>> will be symlinked to /dev/paparazzi/serial.
>>
>> So please update these rules and let us know if there are some more problems.
>>
>> Cheers, Felix
>>
>>
>>
>> ------------------------------
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
>> End of Paparazzi-devel Digest, Vol 79, Issue 26
>> ***********************************************
>
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