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Re: [Paparazzi-devel] Not able to send signal to the airplane.


From: Martin Mueller
Subject: Re: [Paparazzi-devel] Not able to send signal to the airplane.
Date: Thu, 26 Jul 2012 13:45:28 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:14.0) Gecko/20120714 Thunderbird/14.0


And the signal goes all the way to the RX pin?

To check permissions, can you try something like

echo "hello" > /dev/ttyUSB0

(or the /dev that the modem is connected to)

On 07/26/2012 01:25 PM, Árni Þorvaldsson wrote:
I have the same groundstation modem and the same onboard as well.
________________________________________
Frá: address@hidden address@hidden fyrir hönd Martin Mueller address@hidden
Sent: 26. júlí 2012 11:16
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

Same ground station modem? Maybe use an oscilloscope and follow the
serial signal in the the aircraft from the DOUT of the modem to the RX
of the autopilot while continuously transmitting data from the ground.

On 07/26/2012 01:10 PM, Árni Þorvaldsson wrote:
Hi and thanks for your help.
that´s right, I am able to see messages from AP but cannot send any messages to 
the AP.
I have never been able to send messages to the this AP.
But I have another plane here with another AP(but same brand) and that one 
works good (with the same computer and same setup).
so that is why I was wondering if it is hardware problem.

regards Arni
________________________________
Frá: address@hidden address@hidden fyrir hönd Christoph Niemann address@hidden
Sent: 26. júlí 2012 10:50
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

Hi Arni,

what understoud was, you were able to see messages coming from the AP, but not 
from you computer, right?
Have you been able to see the messages from your computer to the ap with your 
other setup?
If so, how should there be no messages with a malconfigured or broken AP? The 
only possibility would be, there is something wrong with the config on your 
computer for the ground modem (or its USB to UART chip) or the AP is pulling 
his RX line to low.

Cheers

Christoph

2012/7/26 Árni Þorvaldsson <address@hidden<mailto:address@hidden>>
Hi , I have another plane and computer (with paparazzi installed) here that 
works perfectly. I have tried to use the same settup for my plane but it´s 
still the same problem. So it´s probably something with the board since I am 
using the same configuration and same xbees.

maybe I am missing something. I don know if it is hardware problem or something 
I have to flash the board with to be able to get the uplink possible.
If someone has experienced this before please help.

regards Arni.
________________________________
Frá: address@hidden<mailto:address@hidden> address@hidden<mailto:address@hidden>] 
fyrir hönd Christoph Niemann address@hidden<mailto:address@hidden>]
Sent: 25. júlí 2012 16:20
To: address@hidden<mailto:address@hidden>
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

Weird.

Never had that before. What happens, if the permissions for the Modem-Device 
(e.g. /dev/ttyUSB0) are read-only? Perhaps in this case, there won't be an 
error Message, but just no data going through the line.  The datalink is, as 
far as i know, only configured by the parameters given to the link-program 
(e.g. sw/ground_segment/tmtc/link  -d /dev/ttyUSB0 -s 57600) on the ground-side 
and the telemtry-defines in the Airframe-File. But both seem ok, since its 
working for the downlink...
Perhaps check the permissions for the Modem.

Good Luck

Christoph

2012/7/25 Árni Þorvaldsson 
<address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>>
a little update on my problem, I just put an oscilloscope on tx and rx ports of 
the serial on the tiny.  I can see data going through TX but nothing is 
happening on RX. That means that there are no data going to the Tiny so the 
problem lies in the paparazzi. I am not sure where I configure the datalink.

If someone can help me it is highly preciated.

Arni
________________________________________
Frá: address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>> 
address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>] fyrir h&#246;nd Árni 
Þorvaldsson address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>]
Sent: 25. júlí 2012 14:15
To: 
address@hidden<mailto:address@hidden><mailto:address@hidden<mailto:address@hidden>>
Efni: [Paparazzi-devel] Not able to send signal to the airplane.

Hi all
I was going to have my first first flight today but had some errors, manual 
mode is working fine and I am receiving the messages from the airplane and have 
already calibrated the IR sensors and servos.
My problem now seems to be that I am not able to send data to the autopilot 
through xbees ( xbee communication only work one way). I have tried to connect 
usb-serial cable instead of xbees and still the same problem so it´s not 
problem with the xbees.
Is there something I am missing?

Here are my airframe and telemetry files. (is there something else I need to 
display)

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
       Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
       PerkinElmer TPS334 IR Sensors
       Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
       XBee modem with AT firmware
       LEA 5H GPS
-->

<airframe name="Funjet Tiny 2.11">

    <firmware name="fixedwing">
      <target name="sim"             board="pc"/>
      <target name="ap"             board="tiny_2.11"/>

      <define name="AGR_CLIMB"/>
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/>

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

      <!-- Communication -->
      <subsystem name="telemetry" type="transparent"/>



      <!-- Actuators are automatically chosen according to board-->
      <subsystem name="control"/>
      <!-- Sensors -->
      <subsystem name="ahrs"         type="infrared"/>
      <subsystem name="gps"             type="ublox"/>

      <subsystem name="navigation"/>
    </firmware>

    <modules>
      <load name="infrared_adc.xml"/>
    </modules>

    <firmware name="setup">
      <target name="tunnel"             board="tiny_2.11"/>
      <target name="setup_actuators"     board="tiny_2.11"/>
    </firmware>

<!-- commands section -->
    <servos>
      <servo name="MOTOR"         no="7" min="1000" neutral="1000" max="2000"/>
      <servo name="AILEVON_LEFT"  no="4" min="1900" neutral="1500" max="1100"/>
      <servo name="AILEVON_RIGHT" no="3" 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"/>
    </commands>

    <rc_commands>
      <set command="THROTTLE" value="@THROTTLE"/>
      <set command="ROLL"     value="@ROLL"/>
      <set command="PITCH"    value="@PITCH"/>
    </rc_commands>

    <section name="MIXER">
      <define name="AILEVON_AILERON_RATE" value="0.45"/>
      <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
    </section>

    <command_laws>
      <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
      <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
      <set servo="MOTOR"           value="@THROTTLE"/>
      <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
      <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
    </command_laws>

    <section name="AUTO1" prefix="AUTO1_">
      <define name="MAX_ROLL" value="0.85"/>
      <define name="MAX_PITCH" value="0.6"/>
    </section>
    <!--section name="MISC">
      <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
      <define name="NO_XBEE_API_INIT" value="FALSE"/>
    </section-->
    <section name="INFRARED" prefix="IR_">
      <define name="ADC_IR1_NEUTRAL" value="514"/>
      <define name="ADC_IR2_NEUTRAL" value="511"/>
      <define name="ADC_TOP_NEUTRAL" value="512"/>

      <define name="CORRECTION_UP" value="1."/>
      <define name="CORRECTION_DOWN" value="1."/>
      <define name="CORRECTION_LEFT" value="1."/>
      <define name="CORRECTION_RIGHT" value="1."/>

      <define name="LATERAL_CORRECTION" value="-1"/>
      <define name="LONGITUDINAL_CORRECTION" value="1"/>
      <define name="VERTICAL_CORRECTION" value="1.5"/>

      <define name="IR1_SIGN" value="1"/>
      <define name="IR2_SIGN" value="-1"/>
      <define name="TOP_SIGN" value="1"/>
      <define name="HORIZ_SENSOR_TILTED" value="1"/>

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

    <section name="BAT">
      <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
      <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    </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="(1.5*MAX_DIST_FROM_HOME)"/>
      <define name="CONTROL_RATE" value="60" unit="Hz"/>
      <define name="ALT_KALMAN_ENABLED" value="FALSE"/>

      <define name="TRIGGER_DELAY" value="1."/>
      <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
    </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="-0.06"/> <!-- -0.024 -->
      <!-- outer loop saturation -->
      <define name="ALTITUDE_MAX_CLIMB" value="2."/>

      <!-- auto throttle inner loop -->
      <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
      <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
      <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
      <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
      <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
      <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
      <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
      <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
      <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

      <!-- auto pitch inner loop -->
      <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
      <define name="AUTO_PITCH_IGAIN" value="0.0"/>
      <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
      <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

      <define name="THROTTLE_SLEW" value="0.1"/>
    </section>


    <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
      <define name="COURSE_PGAIN" value="-0.9"/>
      <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 
-->
      <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="6600."/>
      <define name="AILERON_OF_THROTTLE" value="0.0"/>
      <define name="PITCH_PGAIN" value="-5500."/>
      <define name="PITCH_DGAIN" value="0.4"/>

      <define name="ELEVATOR_OF_ROLL" value="2400"/>
    </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="0.9"/><!-- Gaz for Aggressive Climb 
-->
      <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
      <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent 
-->
      <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
          <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
          <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
          <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
      <define name="HOME_RADIUS" value="100" unit="m"/>
    </section>

    <section name="SIMU">
      <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
    </section>

</airframe>


<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
    <process name="Ap">
      <mode name="default">
        <message name="AIRSPEED"                period="1"/>
        <message name="ALIVE"                        period="5"/>
        <message name="GPS"                            period="0.25"/>
        <message name="NAVIGATION"            period="1."/>
        <message name="ATTITUDE"                 period="0.5"/>
        <message name="ESTIMATOR"              period="0.5"/>
        <message name="ENERGY"                    period="2.5"/>
        <message name="WP_MOVED"              period="0.5"/>
        <message name="CIRCLE"                      period="1.05"/>
        <message name="DESIRED"                   period="1.05"/>
        <message name="BAT"                            period="1.1"/>
        <message name="BARO_MS5534A"       period="1.0"/>
        <message name="SCP_STATUS"          period="1.0"/>
        <message name="SEGMENT"             period="1.2"/>
        <message name="CALIBRATION"         period="2.1"/>
        <message name="NAVIGATION_REF"      period="9."/>
        <message name="PPRZ_MODE"           period="5."/>
        <message name="SETTINGS"            period="5."/>
        <message name="STATE_FILTER_STATUS" period="5."/>
        <message name="DOWNLINK"            period="5.1"/>
        <message name="DL_VALUE"            period="1.5"/>
        <message name="IR_SENSORS"          period="1.2"/>
        <message name="GYRO_RATES"          period="1.1"/>
        <message name="SURVEY"              period="2.1"/>
        <message name="GPS_SOL"             period="2.0"/>
      </mode>
      <mode name="minimal">
        <message name="ALIVE"               period="5"/>
        <message name="ATTITUDE"            period="4"/>
        <message name="GPS"                 period="1.05"/>
        <message name="ESTIMATOR"           period="1.3"/>
        <message name="WP_MOVED"            period="1.4"/>
        <message name="CIRCLE"              period="3.05"/>
        <message name="DESIRED"             period="4.05"/>
        <message name="BAT"                 period="1.1"/>
        <message name="SEGMENT"             period="3.2"/>
        <message name="CALIBRATION"         period="5.1"/>
        <message name="NAVIGATION_REF"      period="9."/>
        <message name="NAVIGATION"          period="3."/>
        <message name="PPRZ_MODE"           period="5."/>
        <message name="STATE_FILTER_STATUS" period="5."/>
        <message name="DOWNLINK"            period="5.1"/>
        <message name="DL_VALUE"            period="1.5"/>
        <message name="IR_SENSORS"          period="5.2"/>
        <message name="GYRO_RATES"          period="10.1"/>
        <message name="SURVEY"              period="2.1"/>
        <message name="GPS_SOL"             period="5.0"/>
      </mode>
      <mode name="extremal">
        <message name="ALIVE"               period="5"/>
        <message name="GPS"                 period="5.1"/>
        <message name="ESTIMATOR"           period="5.3"/>
        <message name="BAT"                 period="10.1"/>
        <message name="DESIRED"             period="10.2"/>
        <message name="NAVIGATION"          period="5.4"/>
        <message name="PPRZ_MODE"           period="5.5"/>
        <message name="STATE_FILTER_STATUS" period="7."/>
        <message name="DOWNLINK"            period="5.7"/>
      </mode>
    </process>
    <process name="Fbw">
      <mode name="default">
        <message name="COMMANDS"            period="5"/>
        <message name="FBW_STATUS"          period="2"/>
        <message name="ACTUATORS"           period="5"/> <!-- For trimming -->
      </mode>
      <mode name="debug">
        <message name="PPM"                 period="0.5"/>
        <message name="RC"                  period="0.5"/>
        <message name="COMMANDS"            period="0.5"/>
        <message name="FBW_STATUS"          period="1"/>
        <message name="ACTUATORS"           period="5"/> <!-- For trimming -->
      </mode>
    </process>
</telemetry>

regards Arni


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