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Re: [Paparazzi-devel] Servo output


From: Reto Büttner
Subject: Re: [Paparazzi-devel] Servo output
Date: Tue, 29 Nov 2011 13:07:07 +0100

We made the same nasty experience with digital servos. It is
documented on the Wiki:

http://paparazzi.enac.fr/wiki/Common_problems#Will_the_autopilot_provide_enough_5V_power_for_many.2Flarge.2Fdigital_servos_as_well_as_a_modem.2C_video_TX.2C_etc..3F

"Be careful using high power or digital servos consuming a lot of
current. If you use four or more of them on your airframe it is
recommended to supply them separately."

Cheers, Reto

2011/11/29 Jochen Rieger <address@hidden>:
> With external power supply, it works.
>
>
> Thank you, very much.
> -Jochen
>
>
>
>
> 2011/11/28 Gareth Roberts <address@hidden>
>>
>> Hi Jochen,
>>
>> Digital servos will draw more current than the equivalent analogue. Pop a
>> multimeter on and see how much your servo can draw.
>> Unless you are using a small aircraft with two or three servos & a low
>> power XBee and you are low on space/weight, there isn't much reason NOT to
>> use an external BEC.
>> An in-air unexpected reboot because you dragged the 5V line too low is
>> really unpleasant :)
>>
>> Cheers,
>> --G
>>
>>
>>
>> On Mon, 28 Nov 2011 12:43:13 -0000, Jochen Rieger
>> <address@hidden> wrote:
>>
>>> The 5 V power supply drop down for some milli seconds, with 40 Hz, as
>>> soon
>>> as i connect one servo. Meanwhile i dont have any additional subsystem
>>> connected.
>>> I will test with a independent power supply for the servos, but i thought
>>> i
>>> should be possible without them.
>>>
>>> -Jochen
>>>
>>> 2011/11/28 Christophe De Wagter <address@hidden>
>>>
>>>> Lisa can only power 2 Amp at 5V. Minus the autopilot + gps + modem +
>>>> overo
>>>> consumption, make sure you servo does not have high power peaks or power
>>>> your servo's with an appropriate bec.
>>>>
>>>> -Christophe
>>>>
>>>>
>>>>
>>>>
>>>> On Mon, Nov 28, 2011 at 9:47 AM, Jochen Rieger
>>>> <address@hidden>wrote:
>>>>
>>>>> I don t know which servos they are exact, but the Maja seller says that
>>>>> they are identical with Hitec HS-5065MG, digital Servos. I measured a
>>>>> frequenz of 73 Hz, i change the code, how did you say. But the problem
>>>>> is
>>>>> not solved.
>>>>> I dont know why the PPM encoder stops the output signal, if I connect
>>>>> the
>>>>> servos with the Lisa board.
>>>>>
>>>>>
>>>>> I know where the problem is, the positiv power connection seems to be
>>>>> deliver wrong level, see scope picture:
>>>>>
>>>>> *http://www.jpg-upload.com/view.php?filename=235Plus.jpg
>>>>>
>>>>> *I am sure that the wires are right connected, I tested also different
>>>>>
>>>>> connectors and measured some times. The problem is on Lisa side.
>>>>>
>>>>> Have anyone an idea?
>>>>>
>>>>> Best regards.
>>>>> -Jochen
>>>>>
>>>>>
>>>>> 2011/11/25 antoine drouin <address@hidden>
>>>>>
>>>>>> What servos are you using ? what refresh rate are you measuring with
>>>>>> your scope ?
>>>>>>
>>>>>> look in:
>>>>>>
>>>>>> sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
>>>>>>
>>>>>> with the default values, your servos should be refreshed at 40hz
>>>>>> (which is a common value). You may increase that value (by overriding
>>>>>> SERVO_HZ) if you're using high end digital servos that accept more
>>>>>> (like heli tail servos).
>>>>>>
>>>>>> Regards
>>>>>>
>>>>>> Poine
>>>>>>
>>>>>> On Fri, Nov 25, 2011 at 3:06 PM, Jochen Rieger
>>>>>> <address@hidden>
>>>>>> wrote:
>>>>>> > Ok, the output follow the input values. But with the double
>>>>>> > frequence(
>>>>>> > measured with scope). The servos vibrate and drive to an end
>>>>>> position......
>>>>>> > without any controlling a stick. The double frequence should not
>>>>>> > cause
>>>>>> this,
>>>>>> > or ?
>>>>>> >
>>>>>> > -Jochen
>>>>>> >
>>>>>> > 2011/11/23 Felix Ruess <address@hidden>
>>>>>> >>
>>>>>> >> Hi Jochen,
>>>>>> >>
>>>>>> >> if you look at your command_laws, you can see clearly that you only
>>>>>> >> ever set the aileron and throttle servos (outputs 1,3 and 6 if you
>>>>>> >> start counting at one).
>>>>>> >>
>>>>>> >> Cheers, Felix
>>>>>> >>
>>>>>> >> On Wed, Nov 23, 2011 at 9:31 AM, Jochen Rieger <
>>>>>> address@hidden>
>>>>>> >> wrote:
>>>>>> >> > Hello, i have some problems with servo outputs. I have Lisa/L and
>>>>>> PPM
>>>>>> >> > encoder board.
>>>>>> >> >
>>>>>> >> > The PPM message in GCS show follow values.
>>>>>> >> >
>>>>>> >> > Ch 1: min 8796 and max 15395
>>>>>> >> >
>>>>>> >> > In Radio control file is written that the time unit is hardware
>>>>>> >> > dependent.
>>>>>> >> > Which crystal have the Lisa/L board. Sadly, I cant open the eagle
>>>>>> files.
>>>>>> >> > Or,
>>>>>> >> > where can i find this in the code? I didn t find this.
>>>>>> >> >
>>>>>> >> >
>>>>>> >> > Beside this, i have problems with the servo output. In the
>>>>>> >> > actuators
>>>>>> >> > message
>>>>>> >> > have only the ch1., ch. 3 and ch. 6 values. The others channels
>>>>>> >> > are
>>>>>> >> > zero.
>>>>>> >> > Where is the mistake in the airframe oder radio file?
>>>>>> >> >
>>>>>> >> > Airframe:
>>>>>> >> >
>>>>>> >> > <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
>>>>>> >> >
>>>>>> >> > <!--
>>>>>> >> >     Lisa + Aspirin + XBee
>>>>>> >> > -->
>>>>>> >> >
>>>>>> >> > <airframe name="Yapa v1">
>>>>>> >> >
>>>>>> >> >   <servos>
>>>>>> >> >     <servo name="THROTTLE"      no="2" min="1200" neutral="1200"
>>>>>> >> > max="1900"/>
>>>>>> >> >     <servo name="AILERON_LEFT"  no="0" min="1100" neutral="1500"
>>>>>> >> > max="1900"/>
>>>>>> >> >     <servo name="AILERON_RIGHT" no="5" min="1800" neutral="1450"
>>>>>> >> > max="1100"/>
>>>>>> >> >     <servo name="ELEVATOR"      no="1" min="1150" neutral="1550"
>>>>>> >> > max="1950"/>
>>>>>> >> >     <servo name="RUDDER"        no="3" min="1050" neutral="1450"
>>>>>> >> > max="1850"/>
>>>>>> >> >   </servos>
>>>>>> >> >
>>>>>> >> >   <commands>
>>>>>> >> >     <axis name="THROTTLE" failsafe_value="0"/>
>>>>>> >> >     <axis name="ROLL" failsafe_value="0"/>
>>>>>> >> >     <axis name="PITCH" failsafe_value="0"/>
>>>>>> >> >     <axis name="YAW"      failsafe_value="0"/>
>>>>>> >> >   </commands>
>>>>>> >> >
>>>>>> >> >   <rc_commands>
>>>>>> >> >     <set command="THROTTLE" value="@THROTTLE"/>
>>>>>> >> >     <set command="ROLL" value="@ROLL"/>
>>>>>> >> >     <set command="PITCH" value="@PITCH"/>
>>>>>> >> >     <set command="YAW"      value="@YAW"/>
>>>>>> >> >   </rc_commands>
>>>>>> >> >
>>>>>> >> >   <command_laws>
>>>>>> >> >     <set servo="AILERON_LEFT" value="@ROLL"/>
>>>>>> >> >     <set servo="AILERON_RIGHT" value="@ROLL"/>
>>>>>> >> >     <set servo="THROTTLE" value="@THROTTLE"/>
>>>>>> >> >   </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>
>>>>>> >> >
>>>>>> >> >
>>>>>> >> >   <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="int_cmpl_quat">
>>>>>> >> >       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
>>>>>> >> >     </subsystem>
>>>>>> >> >     <subsystem name="imu" type="aspirin_i2c"/>
>>>>>> >> >     -->
>>>>>> >> >     <subsystem name="imu" type="aspirin"/>
>>>>>> >> >     <subsystem name="ahrs" type="float_dcm">
>>>>>> >> > <!--      <define name="USE_MAGNETOMETER" /> -->
>>>>>> >> >     </subsystem>
>>>>>> >> >
>>>>>> >> >
>>>>>> >> >     <subsystem name="radio_control" type="ppm"/>
>>>>>> >> >
>>>>>> >> >     <!-- Communication -->
>>>>>> >> >     <subsystem name="telemetry"           type="transparent">
>>>>>> >> >     <configure name="MODEM_BAUD"          value="B38400"/>
>>>>>> >> >     <configure name="MODEM_PORT"          value="UART3"/>
>>>>>> >> >     </subsystem>
>>>>>> >> >
>>>>>> >> >     <!-- Actuators -->
>>>>>> >> >     <subsystem name="control"/>
>>>>>> >> >     <!-- Sensors -->
>>>>>> >> >     <subsystem name="navigation"/>
>>>>>> >> >     <subsystem name="gps"         type="nmea">
>>>>>> >> >     <configure name="GPS_PORT"          value="UART2"/>
>>>>>> >> >     <configure name="GPS_BAUD"          value="B9600"/>
>>>>>> >> >     </subsystem>
>>>>>> >> >
>>>>>> >> >
>>>>>> >> > </firmware>
>>>>>> >> >
>>>>>> >> >
>>>>>> >> > </airframe>
>>>>>> >> >
>>>>>> >> > Radio file:
>>>>>> >> >
>>>>>> >> > <?xml version="1.0"?>
>>>>>> >> > <!-- $Id$
>>>>>> >> > --
>>>>>> >> > -- (c) 2003 Pascal Brisset, Antoine Drouin
>>>>>> >> > --
>>>>>> >> > -- This file is part of paparazzi.
>>>>>> >> > --
>>>>>> >> > -- paparazzi is free software; you can redistribute it and/or
>>>>>> >> > modify
>>>>>> >> > -- it under the terms of the GNU General Public License as
>>>>>> published by
>>>>>> >> > -- the Free Software Foundation; either version 2, or (at your
>>>>>> option)
>>>>>> >> > -- any later version.
>>>>>> >> > --
>>>>>> >> > -- paparazzi is distributed in the hope that it will be useful,
>>>>>> >> > -- but WITHOUT ANY WARRANTY; without even the implied warranty of
>>>>>> >> > -- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
>>>>>> >> > -- GNU General Public License for more details.
>>>>>> >> > --
>>>>>> >> > -- You should have received a copy of the GNU General Public
>>>>>> >> > License
>>>>>> >> > -- along with paparazzi; see the file COPYING.  If not, write to
>>>>>> >> > -- the Free Software Foundation, 59 Temple Place - Suite 330,
>>>>>> >> > -- Boston, MA 02111-1307, USA.
>>>>>> >> > -->
>>>>>> >> >
>>>>>> >> > <!--
>>>>>> >> > -- Attributes of root (Radio) tag :
>>>>>> >> > -- name: name of RC
>>>>>> >> > -- data_min: min width of a pulse to be considered as a data
>>>>>> >> > pulse
>>>>>> >> > -- data_max: max width of a pulse to be considered as a data
>>>>>> >> > pulse
>>>>>> >> > -- sync_min: min width of a pulse to be considered as a synchro
>>>>>> pulse
>>>>>> >> > -- sync_max: max width of a pulse to be considered as a synchro
>>>>>> pulse
>>>>>> >> > -- min, max and sync are expressed in micro-seconds
>>>>>> >> > -->
>>>>>> >> >
>>>>>> >> > <!--
>>>>>> >> > -- Attributes of channel tag :
>>>>>> >> > -- ctl: name of the command on the transmitter - only for
>>>>>> >> > displaying
>>>>>> >> > -- function: logical command
>>>>>> >> > -- average: channel filtered through several frames (for discrete
>>>>>> >> > commands)
>>>>>> >> > -- min: minimum pulse length (micro-seconds)
>>>>>> >> > -- max: maximum pulse length (micro-seconds)
>>>>>> >> > -- neutral: neutral pulse length (micro-seconds)
>>>>>> >> > -- Note: a command may be reversed by exchanging min and max
>>>>>> >> > values
>>>>>> >> > -->
>>>>>> >> >
>>>>>> >> > <!DOCTYPE radio SYSTEM "radio.dtd">
>>>>>> >> > <radio name="Futaba_PPM_encoder" data_min="750" data_max="2250"
>>>>>> sync_min
>>>>>> >> > ="5000" sync_max ="15000" pulse_type="POSITIVE">
>>>>>> >> >  <channel ctl="1" function="ROLL"     min="1100" neutral="1500"
>>>>>> >> > max="1900"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="2" function="PITCH"    min="1150" neutral="1550"
>>>>>> >> > max="1950"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="3" function="THROTTLE" min="1100" neutral="1100"
>>>>>> >> > max="1900"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="4" function="YAW"      min="1050" neutral="1450"
>>>>>> >> > max="1850"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="5" function="MODE"     min="2050" neutral="1500"
>>>>>> >> > max="950"
>>>>>> >> > average="1"/>
>>>>>> >> >  <channel ctl="6" function="UNUSED"   min="900" neutral="1500"
>>>>>> >> > max="2100"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="7" function="UNUSEDA"  min="900" neutral="1500"
>>>>>> >> > max="2100"
>>>>>> >> > average="0"/>
>>>>>> >> >  <channel ctl="8" function="UNUSEDB"  min="900" neutral="1500"
>>>>>> >> > max="2100"
>>>>>> >> > average="0"/>
>>>>>> >> > </radio>
>>>>>> >> >
>>>>>> >> >
>>>>>> >> > Regards.
>>>>>> >> > Jochen
>>>>>> >> >
>>>>>> >> > _______________________________________________
>>>>>> >> > Paparazzi-devel mailing list
>>>>>> >> > address@hidden
>>>>>> >> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>> >> >
>>>>>> >> >
>>>>>> >>
>>>>>> >> _______________________________________________
>>>>>> >> Paparazzi-devel mailing list
>>>>>> >> address@hidden
>>>>>> >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>> >
>>>>>> >
>>>>>> > _______________________________________________
>>>>>> > Paparazzi-devel mailing list
>>>>>> > address@hidden
>>>>>> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>> >
>>>>>> >
>>>>>>
>>>>>> _______________________________________________
>>>>>> Paparazzi-devel mailing list
>>>>>> address@hidden
>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>>
>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> Paparazzi-devel mailing list
>>>>> address@hidden
>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>
>>>>>
>>>>
>>>> _______________________________________________
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>>>> address@hidden
>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>
>>
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