Re: [Paparazzi-devel] Airspeed

[Felix Ruess]

Hi Jesus,

what version (branch) are you using? Looks like a pretty old one to me... if you are using an old version, I would suggest to update.

Also if you are using some (unspecified) old version we can't really help you...

In the current master you should not include <subsystem name="i2c"> anymore as i2c is always added.

Also you don't need

<define name="GPS_USE_LATLONG"/> (already defined when you use gps type="ublox")

<define name="USE_USB_HIGH_PCLK" /> (already defined for the ins_chimu_spi module)

Also <define name="MODEM_BAUD"          value="B57600"/> in

 <subsystem name="telemetry"     type="transparent">

   <define name="MODEM_BAUD"          value="B57600"/>

 </subsystem>

should be

 <subsystem name="telemetry"     type="transparent">

  <configure name="MODEM_BAUD"          value="B57600"/>

 </subsystem>

but as this is the default anyway you don't even need it (although it doesn't hurt).

What exactly are the differences between working and not working? If the GCS stays black, you are not getting any messages... can you confirm that only adding airspeed is the problem?

Cheers, Felix

On Thu, Feb 23, 2012 at 6:37 PM, Jesus Martin Sanchez <address@hidden> wrote:

Hi:

  I´ve verified my conecctions and all it´s ok, my problem it´s that I have any error message, the only problem it´s that the GCS doesn´t load anything. The only thing that I´ve changed respect the correct airframe file (without the airspeed) are the airspeed code. Thats it´s what I´m using that dont work...

  Thanks a lot

  Jesús

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!-- Mugin UAV, 

     XTend

     LEA 5H GPS (set to POSLLH)

-->

<!--RESPI VERSION V3 modificada con los para metros del EasyStar_ets que tiene AirSpeed y Baro. Verson Nueva para V3. param cambia define-->

<airframe name="Mugin UAV">

  <firmware name="fixedwing">

    <target name="ap" board="twog_1.0">

      <define name="AGR_CLIMB"/>

      <define name="LOITER_TRIM"/>

      <define name="ALT_KALMAN"/>

      <define name="USE_I2C0"/><!--RESPI ADD-->

      <define name="UNLOCKED_HOME_MODE" value="TRUE"/> <!--Esto se anade para deshabilitar el salir de HOME_MODE desde la GCS-->

      <define name="USE_AIRSPEED"/><!--RESPI ADD AIRSPEED-->

      <define name="SENSOR_SYNC_SEND"/><!--RESPI ADD AIRSPEED-->

      <!--<define name="USE_BARO_ETS"/>RESPI ADD BARO-->

      <define name="GPS_USE_LATLONG"/><!--RESPI ADD Para ver si se arregla lod el HOME MODE porculero-->

      <define name="USE_USB_HIGH_PCLK" />

    </target>

    <target name="sim" board="pc">

      <define name="LOITER_TRIM"/>

      <define name="ALT_KALMAN"/>

      <define name="AGR_CLIMB"/>

    </target>

    <subsystem name="radio_control" type="ppm"/>

    <subsystem name="telemetry"     type="transparent">

      <define name="MODEM_BAUD"          value="B57600"/><!--RESPI :PROBAMOS CON ESTO AHORA Y VA OK TAMBIEN-->

     </subsystem>

    <subsystem name="control"/>

    <subsystem name="gps" type="ublox"/>

    <!--<subsystem name="navigation"/>   RESPI Esto del TwinStar-->

    <subsystem name="navigation"    type="extra"/>  <!--Esto es del EasyStar. Se usa para rutinas de navegacion avanzadas-->

   <subsystem name="i2c"> <!--RESPI ADD-->

    </subsystem>

   <subsystem name="spi_slave_hs"><!--JESUS ADD-->

    </subsystem>

  </firmware>

  <!--<firmware name="setup"> RESPI SUB

    <target name="tunnel"           board="twog_1.0" />

    <target name="setup_actuators"  board="twog_1.0" />

  </firmware>-->

 

  <!--CHIMU ADD-->

  <modules>

  <load name="ins_chimu_spi.xml" >

  </load>

  <!--AIRSPEED ADD-->

    <load name="airspeed_ets.xml">

       <define name="AIRSPEED_ETS_SCALE"   value="1.8"/>

       <define name="AIRSPEED_ETS_OFFSET"  value="4"/>

       <define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>

    </load>

    

  </modules><!-- END RESPI ADD-->

<!-- commands section -->

  <servos>

    <servo name="AIL_LEFT"           no="0" min="1800" neutral="1500" max="1200"/>

    <servo name="RUDDERVATOR_LEFT"   no="1" min="1950" neutral="1500" max="1050"/>

    <servo name="MOTOR"              no="2" min="2100" neutral="1650" max="1200"/>

    <servo name="RUDDERVATOR_RIGHT"  no="3" min="1050" neutral="1500" max="1950"/>

    <servo name="AIL_RIGHT"          no="4" min="1800" neutral="1500" max="1200"/>

    <servo name="RUEDA_MORRO"        no="5" min="1200" neutral="1500" max="1800"/>

    <servo name="FRENOS"             no="6" min="1000" neutral="1500" max="2000"/>

    <servo name="PARACAIDAS"         no="7" min="1000" neutral="1500" max="2000"/>

    

  </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"/> 

    <axis name="FRENOS"     failsafe_value="0"/>

    <axis name="PARACAIDAS" 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"/> 

    <set command="PARACAIDAS" value="@PARACAIDAS"/>

    <set command="FRENOS"     value="@FRENOS"/>

  </rc_commands>

  <auto_rc_commands>

    <set command="PARACAIDAS" value="@PARACAIDAS"/>

    <set command="FRENOS" value="@FRENOS"/>

  </auto_rc_commands>

  <section name="MIXER">

    <define name="RUDERVATOR_YAW_RATE" value="0.8"/><!--DEJADO COMO TENIA RAFA-->

    <define name="RUDERVATOR_ELEVATOR_RATE" value="0.7"/><!--COMO LO TENÍA RAFA-->

    <define name="RUEDA_MORRO_YAW_RATE" value="0.7"/><!--ESTO ESTA BIEN???-->

    <define name="AILERON_DIFF" value="0.7"/>

  </section>

  <command_laws>

    <let var="aileron"                 value="@ROLL"/>

    <let var="elevator"                value="@PITCH * RUDERVATOR_ELEVATOR_RATE"/>

    <let var="yaw"                     value="@YAW * RUDERVATOR_YAW_RATE * RUEDA_MORRO_YAW_RATE "/> <!--ESTO ESTA BIEN??? TBC-->

    <set servo="MOTOR"                 value="@THROTTLE"/>

    <set servo="RUDDERVATOR_LEFT"      value="$elevator - $yaw"/>

    <set servo="RUDDERVATOR_RIGHT"     value="$elevator + $yaw"/>

    <set servo="AIL_RIGHT"             value="($aileron > 0 ? AILERON_DIFF : 1) address@hidden"/>

    <set servo="AIL_LEFT"              value="($aileron > 0 ? 1 : AILERON_DIFF) address@hidden"/>  <!--hay que añadir el resto de canales (frenos... etc)? TBC-->

    <set servo="RUEDA_MORRO"           value="@YAW"/>

    <set servo="PARACAIDAS"            value="@PARACAIDAS"/>

    <set servo="FRENOS"                value="@FRENOS"/>

  </command_laws>

<section name="INS" prefix="INS_"><!--jesus ADD PARA LA IMU-->

     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>

     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>

  </section>

  <section name="AUTO1" prefix="AUTO1_"><!--RESPI Esta seccion del EasyStar-->

    <define name="MAX_ROLL" value="RadOfDeg(40)"/><!--Angulo de la SUPERFICIE de Alerones NO ES ROLL-->

    <define name="MAX_PITCH" value="RadOfDeg(40)"/><!--Angulo de la SUPERFICIE de Profundidad NO ES PITCH-->

  </section>

   <section name="BAT">

    <define name="MILLIAMP_AT_FULL_THROTTLE" value="1200" unit="mA"/><!--RESPI Cambiado en V4-->

    <define name="ADC_CHANNEL_CURRENT" value="ADC_3" /><!--Anadido en V4-->

    <define name="MilliAmpereOfAdc(adc)" value="(124*(adc-519))"/><!--Anadido en V4. Habra que escalarlo correctamente Con 112 estaba por debajo.-->

    <define name="VoltageOfAdc(adc)" value ="(0.0268*adc)"/><!--Para su el valor de bateria indicado sea correcto. Definido en twog_1.0.h-->

    <define name="CATASTROPHIC_BAT_LEVEL" value="5.8" unit="V"/><!--Valores adaptados a la diferencia de escalado. Poner sus valores cuando se ponga bien-->

    <define name="CRITIC_BAT_LEVEL" value="2" unit="V"/>

    <define name="LOW_BAT_LEVEL" value="5.5" unit="V"/>

    <define name="MAX_BAT_LEVEL" value="8.3" unit="V"/>

    <define name="ADC_CHANNEL_VOLTIOS_BATERIA_MOTOR" value="ADC_4" />

    <define name="VoltageOfAdc_auxiliar(adc)" value ="(0.0268*adc)"/><!--Lo pongo para la bateria de motor. Definido en twog_1.0.h-->

  </section>

  <section name="MISC"><!--RESPI Esto del TwinStar-->

    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>

    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>

    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>

    <define name="CARROT" value="5." unit="s"/>

    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>

    <define name="CONTROL_RATE" value="60" unit="Hz"/><!--RESPI MOD 60HZ Puede ser 20 Hz-->

    <define name="ALT_KALMAN_ENABLED" value="FALSE"/><!--RESPI FALSE-->

    <define name="TRIGGER_DELAY" value="1."/>

    <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>

    

  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_"><!--RESPI Esta Seccion es completa del EasyStar-->

    <define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/><!--Era 11.1 Se lo pongo a 8.4 para la micro-->

    <!-- outer loop -->

    <define name="ALTITUDE_PGAIN" value="-0.15" unit="(m/s)/m"/><!--RESPI CALERO UPDATE Estaba en -0.075 -->

    <define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>

    <!-- auto throttle inner loop -->

    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35" unit="%"/>

    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/><!--Era 0.4.Cambiado 29-03-2011-->

    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.9" unit="%"/><!--Era 0.8.Cambiado 29-03-2011-->

    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>

    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>

    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>

    <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>

    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>

    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.2" unit="rad/(m/s)"/><!--RESPI CALERO UPDATE Estaba en 0.05-->

    <define name="AUTO_PITCH_PGAIN" value="-0.05"/> <!--RESPI Era -0.125 Vuelo viernes -0.09-->

    <define name="AUTO_PITCH_IGAIN" value="0.015"/> <!--RESPI Era -0.025 Vuelo Viernes 0.024-->

    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>

    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>

    <define name="THROTTLE_SLEW" value="1.0"/>

    <!-- auto airspeed and altitude inner loop --><!--RESPI ADD-->

    

     <define name="AUTO_AIRSPEED_SETPOINT" value="8.0" unit="m/s"/> <!--Era 14.5-->

     <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>

     <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>

     <define name="AUTO_GROUNDSPEED_SETPOINT" value="5.0" unit="m/s"/><!--Era 6-->

     <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>

     <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

  </section>

<!--  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">

    <define name="COURSE_PGAIN" value="-1.0"/>

    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>

    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>

    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

    <define name="ROLL_PGAIN" value="6000."/>

    <define name="AILERON_OF_THROTTLE" value="0.0"/>

    <define name="PITCH_PGAIN" value="-9000."/>

    <define name="PITCH_DGAIN" value="-1700."/>

    <define name="ELEVATOR_OF_ROLL" value="1500"/>

  </section>  RESPI Esto es del Twin-->

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_"><!--RESPI Esta seccion entera del EasyStar-->

    <define name="COURSE_PGAIN" value="-0.7"/>

    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(35)-->

    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(25)-->

    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(25)-->

    <define name="ROLL_PGAIN" value="1560."/><!--RESPI Esto lo conservo del Twin--><!--Era 6000 Cambiado a 1560 Vuelo 17-03-->

    <define name="PITCH_PGAIN" value="-8000."/><!--Era -12000 Cambiado a -8000 Vuelo 17-03-->

    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="2500"/>

    <define name="ROLL_ATTITUDE_GAIN" value="-10000"/><!--Estaba en -14000 Vuelo 17-03-->

    <define name="ROLL_RATE_GAIN" value="-200"/>

  </section>

  <section name="NAV">

    <define name="NAV_PITCH" value="0."/>

    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>

  </section>

  <section name="AGGRESSIVE" prefix="AGR_">

    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->

    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->

    <define name="CLIMB_THROTTLE" value="0.6" unit="%"/><!-- Gaz for Aggressive Climb RESPI esto es del EasyStar 0.9-->

    <define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb RESPI Esto es del EasyStar 0.35-->

    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent RESPI Esto del EasyStar 0.05-->

    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent RESPI Esto es del EasyStar -0.35-->

    <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="DELAY_WITHOUT_GPS" value="5" unit="s"/>

    <define name="DEFAULT_THROTTLE" value="0.1" unit="%"/>

    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>

    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>

    <define name="HOME_RADIUS" value="80" unit="m"/>

  </section>

  <section name="DATALINK" prefix="DATALINK_">

    <define name="DEVICE_TYPE" value="PPRZ"/>

    <define name="DEVICE_ADDRESS" value="...."/>

  </section>

 <makefile>

 ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4

  </makefile>

</airframe>

--
Jesús Martín

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