Re: [Paparazzi-devel] Is lisa/m 2.0 now support the baro and the magnetometer on board?

[Felix Ruess]

Hi Marvin,

what branch are you using? v3.9?

With some setups the mag sometimes only updates once at startup. Seems to be an I2C driver issue that is probably fixed with the new driver (in master).

You can also test the new driver in v3.9 by adding <configure name="USE_NEW_I2C_DRIVER"/> to your firmware.

Baro should be read just fine, although for fixedwings the onboard baro is currently not used to update the altitude kalman filter.... Eduardo said he had a patch?

Cheers, Felix

On Mon, Jun 4, 2012 at 11:08 AM, Marvin Wang <address@hidden> wrote:

hi all

Is lisa/m 2.0 now support the baro and the magnetometer on board? 

i cant use them both, i have look up the message cant find the baro datalink,the mag value is constant, what should i add to the ariframe? i checked the wiki everywhere cant find the answer, so please help me with this.

my airframe.xml:

!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Sky Surfer 1.4m with Lisa/M 2.0">

    <firmware name="fixedwing">

    <target name="sim"  board="pc">

      <define name="LOITER_TRIM"/>

      <define name="ALT_KALMAN"/>

      <define name="AGR_CLIMB"/>

    </target>

    <target name="ap"  board="lisa_m_2.0">

      <define name="LOITER_TRIM"/>

      <define name="ALT_KALMAN"/>

      <define name="AGR_CLIMB"/>

    </target>

    <subsystem name="imu"  type="aspirin_v2.1"/>

    <subsystem name="ahrs"  type="int_cmpl_quat">

<!--   ******** AHRS_MAG_UPDATE_YAW_ONLY is defult set ********

      <define name="AHRS_MAG_UPDATE_YAW_ONLY"/>     -->

       <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/>

    </subsystem>

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

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

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

    </subsystem>

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

       <configure name="GPS_BAUD" value="B38400"/>

    </subsystem>

    <subsystem name="control"/>

    <subsystem name="navigation"/>

  </firmware>

  <firmware name="setup">

    <target name="tunnel"      board="lisa_m_2.0" />

    <target name="setup_actuators"  board="lisa_m_2.0" />

  </firmware>

  <modules>

    <load name="gps_ubx_ucenter.xml"/>

  </modules>

<section name="AHRS" prefix="AHRS_">

  <define name="H_X" value="0.834910303443909"/>

  <define name="H_Y" value="-0.0488381297153481"/>

  <define name="H_Z" value="0.548214941687206"/>

<!--

   above data calcultated by www.ngdc.noaa.gov/geomagmodels/struts/calcIGRFWMM , model = Tainan Taiwan, iaa building IGRF11, date: 2012,may,22th

-->

</section>

<!-- commands section -->

<!-- ppm input process chain:

     radio.xml -> decode according to radio.xml -> commands-> rc_command + command_law -->

  <commands>

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

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

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

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

  </commands>

  <rc_commands>                             

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

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

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

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

  </rc_commands>

  <servos>

    <servo name="AILERON"      no="0" min="1948" neutral="1536" max="1108"/>

    <servo name="THROTTLE"      no="1" min="1100" neutral="1100" max="1942"/>

    <servo name="ELEVATOR"      no="2" min="1940" neutral="1520" max="1074"/>

    <servo name="RUDDER"        no="3" min="1844" neutral="1428" max="1004"/>

  </servos>

  <command_laws>

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

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

    <set servo="ELEVATOR"    value="@PITCH"/>

    <set servo="AILERON" value="@ROLL"/>

  </command_laws>

  <auto_rc_commands>

  <!-- enable rudder in AUTO1 mode-->

    <set command="YAW" value="@YAW"/>

  </auto_rc_commands>

<!-- End command section -->

  <section name="AUTO1" prefix="AUTO1_">

    <define name="MAX_ROLL" value="RadOfDeg(50)"/>

    <define name="MAX_PITCH" value="RadOfDeg(30)"/>

  </section>

   <section name="IMU" prefix="IMU_">

<!-- gyrosens, accelemeter neutral and sens undefined here means use default value defined in imu_aspirinv2.0.h

                                                              /paparazzi/sw/airbone/subsystems/imu/ -->

<!-- mag sensor values are found by calibrate.py scrip, 2012/05/22 NCKU_iaa_building, Tainan, Taiwan-->

    <define name="GYRO_P_NEUTRAL" value="-6"/>

    <define name="GYRO_Q_NEUTRAL" value="-3"/>

    <define name="GYRO_R_NEUTRAL" value="8"/>

    

<define name="MAG_X_NEUTRAL" value="-961"/>

<define name="MAG_Y_NEUTRAL" value="-115"/>

<define name="MAG_Z_NEUTRAL" value="20"/>

<define name="MAG_X_SENS" value="4.45045690083" integer="16"/>

<define name="MAG_Y_SENS" value="4.3861081417" integer="16"/>

<define name="MAG_Z_SENS" value="4.64145389502" integer="16"/>

    <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.0)"/>

    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.0)"/>

    <define name="BODY_TO_IMU_PSI" value="RadOfDeg(90.0)"/>

  </section>

  <section name="BAT">

 <!-- checked-->

    <define name="MILLIAMP_AT_FULL_THROTTLE" value="35000" unit="mA"/>

    <define name="CATASTROPHIC_BAT_LEVEL" value="10.8" unit="V"/>

    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>

    <define name="LOW_BAT_LEVEL" value="11.4" unit="V"/>

    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>

    <!-- adc factor in sw/airbone/boards/lisa_m_2.0.h has been changed into 0.00455(defult 0.00485) -->   

  </section>

  <section name="MISC">

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

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

    <define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME"/>

    <define name="CONTROL_RATE" value="60" unit="Hz"/>

    <define name="NAV_RADIUS" value="30"unit="m"/>

    <define name="NO_XBEE_API_INIT" value="TRUE"/>

    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

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

    <define name="DEFAULT_CIRCLE_RADIUS" value="20."/>

  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>

    <!-- outer loop -->

    <define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>

    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>

    <!-- auto throttle inner loop -->

    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>

    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>

    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>

    <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="0.05" unit="rad/(m/s)"/>

    <!-- auto pitch inner loop-->

    <define name="AUTO_PITCH_PGAIN" value="0.125"/>

    <define name="AUTO_PITCH_IGAIN" value="0.025"/>

    <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"/>

  </section>

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

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

    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>

    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>

    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>

    <define name="PITCH_PGAIN" value="20000."/>

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

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

    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>

    <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="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="0.9"/><!-- Gaz for Aggressive Climb -->

    <define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb -->

    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->

    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="SIMU">

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

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

    <define name="ROLL_RESPONSE_FACTOR" value="15."/>

  </section>

</airframe>

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