Re: [Paparazzi-devel] GCS blank screen

[Luiz Flavio Felizardo]

we got it finally

The wires connecting the XBee modem to the Lisa Board were connected wrong...

The right settings should be the UART data out from XBEE connected to 
the Rx of the LISA and vice versa! (they were switched and it took us 
about a month to finally realize that) I hope this will help someone in 
the future with the same problem ^^ 

I know rookie mistake, but believe me, it was the engineers fault...

2011/8/15 Felix Ruess <address@hidden>

Hi Matheus,

Make sure your modem is detected, e.g. if you only have one it will
probably appear as /dev/ttyUSB0 (you can also out the device id in
your udev rules so it will be linked to /dev/paparazzi/xbee).
Also make sure you have the rights to access the device.

Just start the data link in the Paparazzi Center and check your
parameters there: device, baud rate, transport...
..../link -d /dev/ttyUSB0 -s 57600
Do not set the -transport xbee option as you are not using the xbee
API mode, but normal transparent serial mode.
Then you can start the messages tool to see if you get telemetry from
the aircraft.

One way to test if your modems can talk to each other is by plugging
them both into your PC and opening a minicom (or some other terminal)
for each one of them (e.g. first one is on /dev/ttyUSB0, second one on
/dev/ttyUSB1). You should be able to type back and forth between
them...

Cheers, Felix

On Wed, Aug 10, 2011 at 11:28 PM, Matheus Siqueira Barros
<address@hidden> wrote:
> Hi there,
> We keep getting blank screens on our GCS, it seems to be a common problem so
> we have seen some suggestions, most of them from Felix,
>
> Here they are:
> - Udev Rules Copied (Checked)
> - Cables (Checked via Range test on X-CTU witch is working proprerly with
> the same cables and almost the same settings - the only difference is that
> we have to set our ATCI in 12 for test purpose)
> - Settings (Pan ID are the same and everything else seems to be correct and
> were double checked already)
> - Baundrates (the same for both 57600.)
>
> So the 2 things that are not 100% checked cause we don´t know excty how to
> check are:
> Airframe File (I will send it with this email in case anyone want to take a
> look)
> Ground Modem Recognition by our PC (I don´t know how to perform this test -
> it mighty be a good advice already if anyone explain how can I do it)
>
> Our System:
> 2x - XBee Pro S2, xbp24
> 1x - PPZUAV FTDI Board
> 1x - Lisa/L 1.1
> 1x - IMU Aspirin
> Ubuntu 10.10
> Fixed-wing Airplane
>
> Paparazzi Center Configuration:
> Airframe File attached
> Flight Plan -> flight_plan/basic.xml (no modifications)
> Settings -> settings/lisa.xml (no modifications)
>                  settings/tuning_basic_ins.xml (no modifications)
> Radio -> radios/cockpitSX.xml (no modifications)
> Telemetry -> telemetry/default_fixedwing_imu.xml (no modifications)
>
>
> Sorry about the big detailed message, Thanks vm.
>
>
> Attachments:
>
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>
> <!--
>     Lisa_l, IMU Aspirin, GPS ublox_5H e XBee
> -->
>
> <airframe name="VANT_MG">
>
>   <servos>
>     <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
>     <servo name="AILERON_LEFT" no="2" min="1000" neutral="1500" max="2000"/>
>     <servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500"
> max="1000"/>
>     <servo name="ELEVATOR" no="5" min="2000" neutral="1500" max="1000"/>
>     <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
>   </servos>
>
>   <commands>
>     <axis name="THROTTLE" failsafe_value="0"/>
>     <axis name="ROLL" failsafe_value="0"/>
>     <axis name="PITCH" failsafe_value="0"/>
>     <axis name="BRAKE" failsafe_value="0"/>    <!-- both elerons up as
> butterfly brake ? -->
>   </commands>
>
>   <rc_commands>
>     <set command="THROTTLE" value="@THROTTLE"/>
>     <set command="ROLL" value="@ROLL"/>
>     <set command="PITCH" value="@PITCH"/>
>     <set command="BRAKE" value="@YAW"/>
>   </rc_commands>
>
>   <command_laws>
>     <set servo="AILERON_LEFT" value="@ROLL"/>
>     <set servo="AILERON_RIGHT" value="@ROLL"/>
>     <set servo="THROTTLE" value="@THROTTLE"/>
>     <set servo="ELEVATOR" value="@PITCH"/>
>   </command_laws>
>
>   <!-- Local magnetic field -->
>   <section name="AHRS" prefix="AHRS_" >
>     <define name="H_X" value="0.51562740288882" />
>     <define name="H_Y" value="-0.05707735220832" />
>     <define name="H_Z" value="0.85490967783446" />
>   </section>
>
>   <section name="IMU" prefix="IMU_">
>     <!-- Calibration Neutral -->
>     <define name="GYRO_P_NEUTRAL" value="0"/>
>     <define name="GYRO_Q_NEUTRAL" value="0"/>
>     <define name="GYRO_R_NEUTRAL" value="0"/>
>
>     <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec /
> 12bit FRAC: 4096 / 828 -->
>     <define name="GYRO_P_SENS" value="4.947" integer="16"/>
>     <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
>     <define name="GYRO_R_SENS" value="4.947" integer="16"/>
>
>     <define name="GYRO_P_Q" value="0."/>
>     <define name="GYRO_P_R" value="0"/>
>     <define name="GYRO_Q_P" value="0."/>
>     <define name="GYRO_Q_R" value="0."/>
>     <define name="GYRO_R_P" value="0."/>
>     <define name="GYRO_R_Q" value="0."/>
>
>     <define name="GYRO_P_SIGN" value="1"/>
>     <define name="GYRO_Q_SIGN" value="1"/>
>     <define name="GYRO_R_SIGN" value="1"/>
>
>     <define name="ACCEL_X_NEUTRAL" value="-14"/>
>     <define name="ACCEL_Y_NEUTRAL" value="0"/>
>     <define name="ACCEL_Z_NEUTRAL" value="0"/>
>
>     <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g =
> 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y
> -->
>     <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
>     <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
>     <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
>
>     <define name="ACCEL_X_SIGN" value="1"/>
>     <define name="ACCEL_Y_SIGN" value="1"/>
>     <define name="ACCEL_Z_SIGN" value="1"/>
>
>     <define name="MAG_X_NEUTRAL" value="0"/>
>     <define name="MAG_Y_NEUTRAL" value="0"/>
>     <define name="MAG_Z_NEUTRAL" value="0"/>
>
>     <define name="MAG_X_SENS" value="1" integer="16"/>
>     <define name="MAG_Y_SENS" value="1" integer="16"/>
>     <define name="MAG_Z_SENS" value="1" integer="16"/>
>
>     <define name="MAG_X_SIGN" value="1"/>
>     <define name="MAG_Y_SIGN" value="1"/>
>     <define name="MAG_Z_SIGN" value="1"/>
>
>     <define name="BODY_TO_IMU_PHI" value="0"/>
>     <define name="BODY_TO_IMU_THETA" value="0"/>
>     <define name="BODY_TO_IMU_PSI" value="0"/>
>   </section>
>
>   <section name="INS" prefix="INS_">
>     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>   </section>
>
>   <section name="AUTO1" prefix="AUTO1_">
>     <define name="MAX_ROLL" value="0.7"/>
>     <define name="MAX_PITCH" value="0.7"/>
>   </section>
>
>   <section name="BAT">
>     <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
>
>     <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
>     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
>     <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
>   </section>
>
>   <section name="MISC">
>     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
>     <define name="CARROT" value="5." unit="s"/>
>     <define name="CONTROL_RATE" value="60" unit="Hz"/>
>     <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
> <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
>     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
>
>     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
>
>     <define name="GLIDE_AIRSPEED" value="10"/>
>     <define name="GLIDE_VSPEED" value="3."/>
>     <define name="GLIDE_PITCH" value="45" unit="deg"/>
>   </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="-0.03"/>
>     <!-- outer loop saturation -->
>     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
>
>     <!-- auto throttle inner loop -->
>     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
>     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
>     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
>     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
>     <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
>     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
> unit="%/(m/s)"/>
>     <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
>     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
>     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
>
>     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
>   </section>
>
>   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
>     <define name="COURSE_PGAIN" value="-1.20000004768"/>
>     <define name="COURSE_DGAIN" value="0.3"/>
>     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
>
>     <define name="ROLL_MAX_SETPOINT" value="0.75" 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="-12000."/>
>     <define name="PITCH_DGAIN" value="1.5"/>
>
>     <define name="ELEVATOR_OF_ROLL" value="1000."/>
>
>     <define name="ROLL_SLEW" value="1."/>
>
>     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
>     <define name="ROLL_RATE_GAIN" 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="1.00"/><!-- Gaz for Aggressive
> Climb -->
>     <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb
> -->
>     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
> Decent -->
>     <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
>     <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
>     <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
>     <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
>
>     <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
>     <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
>     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
>   </section>
>
>   <section name="DIGITAL_CAMERA" prefix="DC_">
>     <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6"
> unit="quarter_second"/>
>     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
>   </section>
>
>       <!-- DATALINK (ADD BY Luiz)
>    <section name="DATALINK" prefix="DATALINK_">
>       <define name="DEVICE_TYPE" value="PPRZ"/>
>       <define name="DEVICE_ADDRESS" value="...."/>
>    </section>-->
>
>
>   <modules>
> <!--
>     <load name="light.xml">
>       <define name="LIGHT_LED_STROBE" value="3"/>
>       <define name="LIGHT_LED_NAV" value="2"/>
>       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
>       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
>     </load>
>     -->
>     <!--    <load name="digital_cam_i2c.xml"/>  -->
>
>  <!--    <load name="ins_ppzuavimu.xml" /> -->
>
> <!--
>     <load name="digital_cam.xml" >
>       <define name="DC_SHUTTER_LED" value="3"/>
>     </load>
>     -->
>   </modules>
>
>   <firmware name="fixedwing">
>
>     <target name="ap" board="lisa_l_1.1"> <!-- board="tiny_2.11"> -->
>       <define name="STRONG_WIND"/>
>       <define name="WIND_INFO"/>
>       <define name="WIND_INFO_RET"/>
>
>       <configure name="PERIODIC_FREQUENCY" value="120"/>
>       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
>       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
>       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
>
>       <configure name="AHRS_ALIGNER_LED" value="3"/>
>       <configure name="CPU_LED" value="3"/>
>     </target>
>     <target name="sim" board="pc"/>
>
>     <define name="AGR_CLIMB"/>
>     <define name="LOITER_TRIM"/>
>     <define name="ALT_KALMAN"/>
>
>     <!-- Sensors -->
>     <!--
>     <subsystem name="ahrs" type="ic">
>       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
>     </subsystem>
>     <subsystem name="imu" type="aspirin_i2c"/>
>     -->
>     <subsystem name="imu" type="aspirin"/>
>     <subsystem name="ahrs" type="dcm">
> <!--      <define name="USE_MAGNETOMETER" /> -->
>     </subsystem>
>
>
>     <subsystem name="radio_control" type="ppm"/>
>
>     <!-- Communication -->
>     <subsystem name="telemetry" type="transparent">
>       <configure name="MODEM_PORT" value="UART2"/>
>       <configure name="MODEM_BAUD" value="B57600"/>
>     </subsystem>
>
>     <!-- Actuators -->
>     <subsystem name="control"/>
>     <!-- Sensors -->
>     <subsystem name="navigation"/>
>     <subsystem name="gps" type="ublox_utm"/>
>
>     <subsystem name="i2c"/>
>
>
> </firmware>
>
> <firmware name="lisa_l_test_progs">
>     <target name="test_led"   board="lisa_l_1.1"/>
>     <target name="test_uart"   board="lisa_l_1.1"/>
>     <target name="test_servos"   board="lisa_l_1.1"/>
>     <target name="test_telemetry"   board="lisa_l_1.1"/>
>     <target name="test_baro"        board="lisa_l_1.1"/>
>     <target name="test_imu_aspirin" board="lisa_l_1.1"/>
> </firmware>
>
> </airframe>
>
> Best Regards
> +----------------------------------------------------------------------------+
>                Matheus Siqueira Barros
>                Federal University of Itajubá (UNIFEI)
>                     Mobile: +55 (35) 9828-0650
> +----------------------------------------------------------------------------+
>
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>
>

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