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

From: Árni Þorvaldsson
Subject: Re: [Paparazzi-devel] Not able to send signal to the airplane.
Date: Thu, 26 Jul 2012 13:12:50 +0000 
I am getting the signal all the way to chip on the backside of tiny, so the 
problem is not with the connectors. Now I don´t know what I can do. Maybe get a 
new Tiny?

regards Arni
________________________________________
Frá: address@hidden address@hidden fyrir hönd Árni Þorvaldsson 
address@hidden
Sent: 26. júlí 2012 11:49
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

I just checked the signal and and I get a boxsignal everytime i try to send 
message from GCS to the autopilot and it goes all the way to the rx pin.
________________________________________
Frá: address@hidden address@hidden fyrir hönd Martin Mueller address@hidden
Sent: 26. júlí 2012 11:45
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

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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