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Hi Gautier,
ok, so this would be far more work than I hoped for. *Sigh*
Since we hand in our project by the end of next week this will be
hard to do until than. Anyway, thanks for your patience.
Still we got another issue with our arming sequence (don´t wanna
set a new topic here):
When we disarm the motors (by pushing the left stick to the left)
we need to take care not to move the stick up or down.
The default behaviour should be: "don´t accept any movement
commands while running at minimum speed". Otherwise the copter may
hit the next wall when we shut it off.
Is there a treshhold for this? If so: where?
Greetings,
Andrius
Am 28.01.2013 15:00, schrieb Gautier Hattenberger:
Hi Andrius,
About the rotorcraft_cam module: it as been made to control a
camera mounted on a rotorcraft frame using the the heading of the
vehicle to control the pan, and optionally a servo to control the
tilt motion.
The tilt motion is not compensating for the tilt and roll motion
for two "official" reasons :
- having the camera always moving because of a bad combination of
servo/stabilization_control usually produces more blurry images
than doing nothing,
- it was a light version of the cam module that can do more things
including absolute angle stabilization.
We can also consider a more realistic point of view:
- this module is a quick and dirty hack I wrote in 2009 when
having a stable flight was already a challenge.
- the generic cam control module is a even older piece of code
that is only working for fixed-wing aricraft.
As a conclusion, I would say, that if someone wants to work on the
camera control, the best is to make the cam module working
properly on all firmwares, and if possible make the rotorcraft_cam
a special case of the generic module so it can be removed.
Gautier
Le 25/01/2013 18:10, Andrius Batalauskas a écrit :
Hi folks,
we got odd behaviour using our Lisa/M1 rotorcraft and a cam.
When we plug in the system the servo rotates from 0° to 90°,
-so that one seems to work. But though we defined our cam as
"HEADING" it´s not moving when we pitch our rotorcraft.
However the message output does change but for yaw values only
(see pic).
The yaw value should stay zero and the tilt value should vary
from 0° to 90° at least, right? Out servo should even
allow 0° to 180° ranges but haven´t tried it yet.
Greetings,
Andrius
Am 16.01.2013 21:24, schrieb Andrius Batalauskas:
Cool, thanks. I´ll try that out!
Am 16.01.2013 17:24, schrieb Felix Ruess:
Basically, yes...
You should remove the [STOP|MIN|MAX]_MOTOR the
MOTOR_MIXING section and use the min/neutral/max of each
servo for that.
So the servo min value is sent for a stopped motor,
neutral is what is sent to motor in idle, max is max...
E.g. in your case: <servo name="SE"
no="0" min="1000" neutral="1200" max="2100"/>
Cheers, Felix
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