Re: [Paparazzi-devel] Quesion about PPM signal testing

[Chris Gough]

I think that if you need to click debug in settings then your define in the firmware setup isn't working. Grepping the examples for TELEMETRY_MODE_FBW, I see that examples/twog_analogimu.xml puts it in a section named MISC, not in the firmware section.

This is a guess, but maybe the attributes of your radio tag don't match your hardware. Without units/numbers on the logic analyser screen shot, I can't tell if the data and sync widths are reasonable, or which way is up. The JR XP903 example radio file has pulse_type="NEGATIVE", in contrast to your JR9303 file.

Chris Gough

On Wed, Jan 9, 2013 at 2:08 PM, David Conger <address@hidden> wrote:

Thanks to Chris I got a bit closer. 

It was not completely obvious from that Wiki entry. I did get it to output messages for RC. 

Here's what I did:

1. Added this to my airframe file:

  <firmware name="setup">

      <target name="setup_actuators" board="umarim_1.0"/>

      <target name="tunnel" board="umarim_1.0"/>

      <define name="TELEMETRY_MODE_FBW" value="1"/>

  </firmware>

NOTE: it wasn't clear where in the firmware section to put this. I guessed and put it here. 

2. Using the R/C receiver timing diagram from the Wiki and my SAE logic output I saw 9 channels. So I added a 9th row in my radio.xml file for that 9th channel. 

3. I compiled and uploaded the new configurations.

4. In Paparazzi Center I started everything including messages

5. I saw there was no RC in the messages. 

6. In the GCS I went to "Settings" and clicked the "debug" for Fbw" and then the green check to send it to the autopilot

7. Now I was able to see an "RC" message (see image). 

The only channel that seems to be working now is Mode. I can with the ch6/left 3pos switch now switch modes from manual, AUTO1, AUTO2 but still the RC does not move the servos or throttle...more debugging to do. 

-David Conger

On Jan 8, 2013, at 6:04 PM, Chris Gough wrote:

Hi David,

That logic analyser screen shot sure looks like PPM to me :)

These instructions worked for me:

http://paparazzi.enac.fr/wiki/Radio_Control#Measuring_the_PPM_time_values

I used the "define TELEMETRY_MODE_FBW with value="1" method. Have you customised settings or messages?

Chris Gough

On Wed, Jan 9, 2013 at 12:46 PM, David Conger <address@hidden> wrote:

Hello,

I am having difficulty around the RC setup. I am not able to control the servos or mode. 

My airframe file is the default umarim_lite_v2.xml 

Here's the top section around the RC and config:

<airframe name="RadJet420">

  <firmware name="fixedwing">

    <define name="USE_I2C0"/>

    <define name="USE_I2C1"/>

    <define name="AGR_CLIMB" />

    <define name="ALT_KALMAN"/>

    <target name="sim" board="pc"/>

    <target name="ap" board="umarim_lite_2.0"/>

    

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

    <!-- Communication -->

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

    <!-- Actuators are automatically chosen according to board-->

    <subsystem name="imu"     type="umarim"/>

    <subsystem name="ahrs"    type="float_dcm"/>

    <subsystem name="control"/>

    <subsystem name="navigation"/>

    <!-- Sensors -->

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

  </firmware>

  

  <firmware name="setup">

      <target name="setup_actuators" board="umarim_1.0"/>

      <target name="tunnel" board="umarim_1.0"/>

  </firmware>

<!-- commands section -->

  <servos>

    <servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>

    <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1543" max="1100"/>

    <servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1561" 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="0.75"/>

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

  </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>

My radio is a JR9303 with FM Sythn 72mHz module. My Rx is a Berg4L modified per the Wiki for PPM output. I wired the Rx to the autopilot per the Wiki under UmarimLiteV2 small aircraft wiring diagram (latest diagram). 

Here's my radio.xml file:

<!DOCTYPE radio SYSTEM "radio.dtd">

<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000" sync_max="15000" pulse_type="POSITIVE">

  <channel ctl="right_stick_horiz" function="ROLL" min="1939" neutral="1525" max="1114" average="0"/>

  <channel ctl="right_stick_vert" function="PITCH" min="1112" neutral="1518" max="1937" average="0"/>

  <channel ctl="left_stick_vert" function="THROTTLE" min="1940" neutral="1940" max="1115" average="0"/>

  <channel ctl="left_stick_horiz" function="YAW" min="1940" neutral="1498" max="1115" average="0"/>

  <channel ctl="switch_G" function="CALIB" min="2080" neutral="1525" max="969" average="10"/>

  <channel ctl="switch_C" function="MODE" min="2079" neutral="1526" max="966" average="10"/>

  <channel ctl="VRA" function="GAIN1" min="970" neutral="1520" max="2078" average="10"/>

  <channel ctl="VRC" function="GAIN2" min="970" neutral="1518" max="2077" average="10"/>

</radio>

I want the left flap switch (3-pos; ch6) to be mode. 

I connected an SAE logic analyzer to the PPM pin on the connector for RC with everything powered up and think I see a PPM signal. Maybe someone can help and review this image. <SS-PPMSignal.png>

I am unsure how to see the PPM input values in the "messages" utility in Paparazzi Center. Is there a way? I'm at a loss to identify is autopilot receiving the PPM signal and simply unable to parse it? Or is there something else wrong not related to Paparazzi. 

Thank you for your help. I hope I wrote this in a way that others may be helped by the answer. 

-David Conger

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