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

Hi,

you only need to add <define name="TELEMETRY_MODE_FBW" value="1"/> to your firmware section if you want to set this mode to debug permanently. And you also need to add it to the correct firmware section: you added it to setup_actuators so it will only be added to that target (instead of the fixedwing firmware with the ap and fbw targets).

In general you can either add a define to a

1) firmware node

* will be added as a command line define (-D) and hence be "seen" by all source files.

* If you add it directly below the firmware node, the define will be added to all targets of that firmware

* If you add it under a specific target in a firmware section it applies to only that target.

2) section node

* The define will be added to the generated var/<ac_name>/generated/airframe.h

* These defines are only seen by source files that (maybe indirectly) include "generated/airframe.h"

* if the section has a prefix defined the generated define will be prefixed accordingly

Cheers, Felix

On Wed, Jan 9, 2013 at 5:08 AM, Chris Gough <address@hidden> wrote:

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"/>


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


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

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

<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>


<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

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

--
.

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

--
.

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

From:	David Conger
Subject:	Re: [Paparazzi-devel] Quesion about PPM signal testing
Date:	Wed, 09 Jan 2013 13:17:13 -0800