Re: [Paparazzi-devel] Arming sequence and booz

On Wed, Jan 16, 2013 at 12:31 PM, Andrius Batalauskas <address@hidden> wrote:

Hi and thx for the feedback guys!

Motor delay and (un-)arming in different corners is working fine now with 4.2 (for those who have the same problem: see the two "autopilot..." files attached).

Still we would like to use 4.9 if we can. Simply because it´s newer, shinier and has better support for cams. ;-)
However when uploading our xml configuration (see the one attached) the motors keep beeping and twitching every two seconds. I don´t speak Paparazzi fluently yet, so what does it say?
GCS can still be started though (see pic).

Greets!
Andrius

Am 09.01.2013 19:30, schrieb Felix Ruess:
Hi,

Regarding the arming sequence:
1) There is currently no support to arm/unarm in different corners.
You could easily write a new arming sequence by copying/renaming https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h and replacing YAW_STICK_PUSHED() as appropriate and then including this file in autopilot.c instead.

2) The delay to arm/disarm is currently still fixed to AUTOPILOT_MOTOR_ON_TIME (40).
This value represents the number of received rc frames during which the arming condition must be true. So with a usual rc receiver freq of ~40Hz you get ~1s.

In master I changed this define to MOTOR_ARMING_DELAY and made it configurable. To change it to 0.5s add to your airframe file (to any section without a prefix, e.g. misc or autopilot or to the firmware section):

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

(As Eduardo already pointed out the ACTUATORS_START_DELAY is used to have delay until the first commands are sent to the motor controllers (mkk, skiron or asctec).)

Regarding booz_cam:
3) In master the rotorcraft_cam.xml module should work with both LPC21xx and STM32.
Eduardo, if i see that correctly your changes are basically a hack and also will only work if you use PWM motor controllers and not with MKK or asctec controllers.

It also would make much more sense to implement the cam stablization mode in master using the state interface.
Or even better refactor this and create generic stabilization functions (that also take the camera mounting orientation into account) which can then be used by the fixedwing and rotorcraft code.

Cheers, Felix

On Wed, Jan 9, 2013 at 4:48 PM, Eduardo Lavratti <address@hidden> wrote:

BTW, i created STABILIZE MODE that use PITCH and ROLL angles to stabilize the cam.
you can adjust the tilt angle offset using settings/CAM menu;

ACTUATOR_DELAY is only a delay to initialize the motor module not the start motor procedure.
If i remember, the actuator delay only work with MKK, asctec module (i2c modules), so the pwm supervision not use this delay.

On Wed, Jan 9, 2013 at 12:43 PM, Andrius Batalauskas <address@hidden> wrote:

Happy New Year folks!

(Liza/M 1.0/Quadcopter/v4.2.0_stable-2-gd155873)

1) A question concerning the standard arming procedure for the motors (throttle min and full yaw). The motors start and shut down after pushing the yaw both to the left or the right with a time lag of 1 sec.
Is it possible to alter the sequence to start the motors only by pushing yaw to the left and shut them down only by pushing the yaw to the right?

2) Additionally, I want to reduce the time lag. Is the 1 sec standard or just a result of my configuration? Can I use the parameter ACCTUATOR_DELAY_TIME within the airframe to reduce the time lag during arming sequence? Which values are appropriate? Any suggestion is appreciated!

3) We are still trying to implement an automatic heading cam even if it takes some C-Code modifications in the end.
The idea is to "tilt" the cam manually (let´s say with up/down buttons from GCS) and later automatically by reading the pitch value from our Quad. So no panning whatsoever.
With the configuration files attached I get the following error while compiling:

firmwares/rotorcraft/main.c: In function 'telemetry_periodic':
firmwares/rotorcraft/main.c:176:1: error: 'booz_cam_pan' undeclared (first use in this function)
firmwares/rotorcraft/main.c:176:1: note: each undeclared identifier is reported only once for each function it appears in
make[1]: *** [/home/and/papa_42/var/Quad_LisaM_HSB/ap/firmwares/rotorcraft/main.o] Error 1
make[1]: Leaving directory `/home/and/papa_42/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/and/papa_42'

Any ideas?

Cheers!
Andrius

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From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] Arming sequence and booz_cam questions
Date:	Wed, 16 Jan 2013 13:47:40 +0100

Re: [Paparazzi-devel] Arming sequence and booz_cam questions