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Re: [Paparazzi-devel] CHDK and digital_cam.xml


From: Balazs GATI
Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml
Date: Fri, 25 May 2012 09:09:27 +0200
User-agent: Mozilla/5.0 (Windows NT 5.1; rv:12.0) Gecko/20120428 Thunderbird/12.0.1

Yes, I tried, but they seems already be defined. The compiler resulted the warnings. I found similar lines in the tiny_2.11.h

Balazs

2012.05.25. 8:05 keltezéssel, Cédric Marzer (privé) írta:
Did you define the led pin and bank as in my airframe in a previous
message ?

*De :address@hidden
[mailto:address@hidden *De la part
de* Eduardo lavratti
*Envoyé :* vendredi 25 mai 2012 02:26
*À :* Paparazzi developer forum
*Objet :* Re: [Paparazzi-devel] CHDK and digital_cam.xml

Balazs, you want AUX 5v because you like to use chdk remote shot ?
you can use a simple transistor + 2 resistor to convert an 3.3v to 5v.

 Date: Fri, 25 May 2012 00:14:17 +0200
 From: address@hidden <mailto:address@hidden>
 To: address@hidden <mailto:address@hidden>
 Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml

 Thx for the idea! Unfortunately it doesnt help to switch the power on the
 AUX line. Meanwhile I checked that the CAM_SW output is working correctly,
 it goes high (3.3V) periodicaly as it should in autoshoot mode.

 But the AUX line is still down. I put only
 <define name="POWER_SWITCH_LED"/>
 in the MISC section of the airframe file but I still can't switch the
 power on with the power icon nor in the settings tab provided by the
 switch.xml settings file. Although I can see in the GCS, that the
 power_switch variable changes according the commands, but the voltage at
 the AUX line is still 0.3V. I even cheked the servo power voltage: the 5V
 rail seems to be intact.

 Where should I look for errors, info or ideas?

 Some explanation: my Canon A800 can not be controlled with 3.3V of the
 CAM_SW, therefore I would like to use the 5V of the AUX line to shoot. :(

 Balazs


 > I think you need to define the pin and the bank of the led number you
 > define as DC_SHUTTER_LED.
 > I join my airframe file but it is not 100% mature ! Use at your own
 > risk...
 >
 >
 >
 > On Wed, 2012-05-23 at 14:50 +0200, address@hidden
<mailto:address@hidden>wrote:
 >> Thank you Eduardo!
 >>
 >> My airframe file:
 >>
 >>
 >>
 >> <!DOCTYPE airframe SYSTEM "airframe.dtd">
 >>
 >> <!-- EasyGlider
 >> TWOGv1
 >> Xsens MtiG
 >> AC4868
 >> ETS Airspeed
 >>
 >> -->
 >>
 >> <airframe name="Trainer60 - TWOG v1">
 >>
 >> <firmware name="fixedwing">
 >> <target name="ap" board="twog_1.0"/>
 >> <define name="AGR_CLIMB" />
 >> <define name="USE_I2C0"/>
 >> <define name="USE_AIRSPEED"/>
 >> <define name="USE_BARO_ETS"/>
 >> <define name="USE_ADC"/>
 >> <define name="USE_ADC_3"/> <!-- accu voltage-->
 >> <define name="USE_ADC_4"/> <!-- motor current-->
 >> <define name="LOITER_TRIM" />
 >> <define name="ALT_KALMAN" />
 >> <define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/>
 >> <subsystem name="radio_control" type="ppm"/>
 >> <subsystem name="telemetry" type="transparent">
 >> <configure name="MODEM_BAUD" value="B57600"/>
 >> </subsystem>
 >> <subsystem name="control"/>
 >> <subsystem name="gps" type="xsens"/>
 >> <subsystem name="navigation"/>
 >> <subsystem name="i2c"/>
 >>
 >> </firmware>
 >>
 >>
 >> <!-- commands section -->
 >> <servos>
 >> <servo name="AILERON" no="4" min="2000" neutral="1500"
 >> max="1000"/> <!-- TWOG servo channel layout-->
 >> <servo name="ELEVATOR" no="3" min="2000" neutral="1400"
 >> max="1000"/>
 >> <servo name="THROTTLE" no="7" min="1000" neutral="1000"
 >> max="2000"/>
 >> <servo name="RUDDER" no="6" min="1000" neutral="1500"
 >> max="2000"/>
 >> </servos>
 >>
 >> <!-- COMMANDS: generated by AP/RC -->
 >> <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="FLAPS" failsafe_value="0"/>
 >> </commands>
 >>
 >> <!-- MANUAL MODE: links the channels of the RC transmitter (defined
 >> in the Radio Control file)
 >> to the commands defined above -->
 >> <rc_commands>
 >> <set command="THROTTLE" value="@THROTTLE"/>
 >> <set command="ROLL" value="@ROLL"/>
 >> <set command="PITCH" value="@PITCH"/>
 >> <set command="YAW" value="@YAW"/>
 >> <set command="FLAPS" value="@FLAPS"/>
 >> </rc_commands>
 >>
 >> <section name="MIXER">
 >> <define name="COMBI_SWITCH" value="0.4"/> <!--Orig: 1.0 -->
 >> </section>
 >>
 >> <command_laws>
 >> <set servo="THROTTLE" value="@THROTTLE"/>
 >> <set servo="ELEVATOR" value="@PITCH"/>
 >> <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
 >> <set servo="AILERON" value="@ROLL"/>
 >> </command_laws>
 >>
 >>
 >> <!-- AUTO1 MODE: max.pitch max.roll-->
 >> <section name="AUTO1" prefix="AUTO1_">
 >> <define name="MAX_ROLL" value="RadOfDeg(50)"/>
 >> <define name="MAX_PITCH" value="RadOfDeg(40)"/>
 >> </section>
 >>
 >>
 >> <!-- Battery -->
 >> <section name="BAT">
 >> <define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
 >> <define name="MilliAmpereOfAdc(adc)" value="(100*adc)"/>
 >> <define name="VOLTAGE_ADC_A" value="0.05"/>
 >> <define name="VOLTAGE_ADC_B" value="1"/>
 >> <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
 >> VOLTAGE_ADC_B)"/>
 >> <define name="CATASTROPHIC_BAT_LEVEL" value="19.0" unit="V"/>
 >> <define name="CRITIC_BAT_LEVEL" value="20.0" unit="V"/>
 >> <define name="LOW_BAT_LEVEL" value="21.0" unit="V"/>
 >> <define name="MAX_BAT_LEVEL" value="25.0" unit="V"/>
 >> </section>
 >>
 >> <!-- Horizontal control -->
 >> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
 >> <define name="COURSE_PGAIN" value="-0.7"/> <!-- course error-> roll
 >> command orig: -1.0-->
 >> <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/> <!--
 >> max. roll command -->
 >> <define name="ROLL_SLEW" value="0.1"/> <!--
 >> roll rate-->
 >> <define name="ROLL_ATTITUDE_GAIN" value="-9000"/> <!--
 >> roll command from roll error-->
 >> <define name="ROLL_RATE_GAIN" value="-1500"/> <!--
 >> if gyro is installed-->
 >> <define name="PITCH_DGAIN" value="1.5"/>
 >> <define name="PITCH_PGAIN" value="-7000"/>
 >> <define name="ELEVATOR_OF_ROLL" value="1700"/> <!--
 >> orig 1300 -->
 >> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
 >> <define name="PITCH_MIN_SETPOINT" value="-0.25" unit="radians"/>
 >>
 >> </section>
 >>
 >> <!-- Vertical control -->
 >> <section name="VERTICAL CONTROL" prefix="V_CTL_">
 >> <define name="ALTITUDE_PGAIN" value="-0.1" unit="(m/s)/m"/> <!--
 >> altitude error->rate of climb -->
 >> <define name="ALTITUDE_MAX_CLIMB" value="1" unit="m/s"/> <!--
 >> max. rate of climb -->
 >> <!-- auto throttle inner loop -->
 >> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6"
 >> unit="%"/>
 >> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2"
 >> unit="%"/>
 >> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"
 >> unit="%"/>
 >> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"
 >> unit="pprz_t"/>
 >> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" unit="pprz_t"/>
 >> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.3"
 >> unit="%/(m/s)"/>
 >> <define name="AUTO_THROTTLE_PGAIN" value="-0.008" unit="%/(m/s)"/>
 >> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
 >> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"
 >> unit="rad/(m/s)"/> <!-- orig 0.05 -->
 >> <!-- auto pitch inner loop -->
 >> <define name="AUTO_PITCH_PGAIN" value="-0.2"/> <!-- orig 0.1 -->
 >> <define name="AUTO_PITCH_IGAIN" value="0.025"/>
 >> <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
 >> <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
 >> <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
 >> <!-- auto airspeed and altitude inner loop -->
 >> <define name="AUTO_AIRSPEED_SETPOINT" value="11.0" unit="m/s"/>
 >> <!--orig 10.5 -->
 >> <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/> <!-- orig 0.060
 >> -->
 >> <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/> <!-- orig
 >> 0.050 -->
 >> <define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
 >> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
 >> <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
 >> </section>
 >>
 >> <section name="MISC">
 >> <define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
 >> <!--mainly for simulator -->
 >> <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"/>
 >> <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
 >> <define name="UNLOCKED_HOME_MODE" value="FALSE"/> <!-- if true,
 >> HOME mode does not get stuck -->
 >> <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
 >> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 >>
 >> <!--
 >> <define name="GLIDE_AIRSPEED" value="10"/>
 >> <define name="GLIDE_VSPEED" value="3."/>
 >> <define name="GLIDE_PITCH" value="45" unit="deg"/>
 >> -->
 >> </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="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="0.5"/><!-- 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="DELAY_WITHOUT_GPS" value="5" unit="s"/>
 >> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
 >> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
 >> <define name="DEFAULT_PITCH" value="0.3" unit="rad"/>
 >> </section>
 >>
 >> <!-- <section name="DATALINK" prefix="DATALINK_">
 >> <define name="DEVICE_TYPE" value="PPRZ"/>
 >> <define name="DEVICE_ADDRESS" value="...."/>
 >> </section> -->
 >>
 >>
 >> <section name="XSENS">
 >> <!-- <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/> -->
 >> <!-- <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/> -->
 >> <!-- <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/> -->
 >> <define name="INS_PITCH_NEUTRAL_DEFAULT" value="0.0f"/>
 >> <define name="INS_ROLL_NEUTRAL_DEFAULT" value="0.0f"/>
 >> </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="ins_xsens_MTiG_fixedwing.xml">
 >> <configure name="XSENS_UART_NR" value="0"/>
 >> <define name="XSENS_BACKWARDS" />
 >> </load>
 >> <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"/>
 >> <!-- <define name="SENSOR_SYNC_SEND"/> Sending the raw airspeed
 >> by telemetry (high bandwith)-->
 >> </load>
 >> <load name="baro_ets.xml">
 >> <define name="BARO_ETS_TELEMETRY"/> <!-- Sending the barometric
 >> pressure by telemetry -->
 >> </load>
 >> <load name="digital_cam.xml" >
 >> <define name="DC_SHUTTER_LED" value="5"/>
 >> <define name="POWER_SWITCH_LED" value="4"/>
 >> </load>
 >> <!--<load name="adc_generic.xml"> -->
 >> <!-- <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/> -->
 >> <!-- <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/> -->
 >> <!--</load> -->
 >> </modules>
 >>
 >>
 >>
 >>
 >> </airframe>
 >>
 >>
 >>
 >>
 >>
 >>
 >>
 >> _______________________________________________
 >> Paparazzi-devel mailing list
 >> address@hidden <mailto:address@hidden>
 >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
 >
 > _______________________________________________
 > Paparazzi-devel mailing list
 > address@hidden <mailto:address@hidden>
 > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
 >



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--
Balazs GATI, PhD
     Department of Aircraft and Ships
     Budapest University of Technology and Economics

Address:   Budapest
          Stoczek u 6. J. ép. 423
          1111
Tel:       +(36)-1-463-1960
Fax:       +(36)-1-463-3080
Homepage: http://rht.bme.hu/~gatib/



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