Re: [Paparazzi-devel] motor command error on hexa------work arround progress

[Eduardo lavratti]

Well, as i have problems configuring lisa/m to work with 8 motors some months ago i do some test with ppz lpc rotorcraft today.

i used UMARIN board with some mods to work with rotorcraft firmware.
It fly very well in my quad with default i2c values.

When i put the board on hexa frame i need to change the MKK_I2C_SCL_TIME
It work fine with 6 and 7 motors.

When i configure for 8 motor the problem start.

Some time the motors not start, some time it start but when i put some throttle the motor jump to max rpm the stop only when esc time out occur.
Some time the motors start and after some seconds the esc stop due to i2c timeout.

I increased the queue len to 10 and to 20 and problem continue.

I remember that i have similar problem when using LISA but the problem occur even with 6 motor.

PS: all my rotorcraft (quad/hexa/octo) work fine with mikrokopter i2c controller.
I tested the same airframes with lisa and umarin running navgo software

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Date: Fri, 22 Mar 2013 17:54:46 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] motor command error on hexa------work arround progress

hi,

It almost fly, some minor tunnig will be done.

today some few seconds fly, pitch is too low (it need to modify the value), roll is ok, now yaw is in good sens...

Tre propellers are little bit to big... they will be ajusted soon...

Thanks to all,

I don't understand where was my bug.... it is died now!!!

Best regards,

Eric

Le 22/03/2013 11:48, Eric BAHIER a écrit :

Cuurently, in direct live, I create an "hexa_from_quad_lisa.....xml"

it is based on quad without problem, i have added 2 motor, they turn
I have fit them in my realty order (52 in midlle), they turn
Now I try to use the real motor mixing, and the real servo name, they turn....

I don't know where was MY bug.... I hoppe to fly soon...

I will let you know my progress...

I become  creazy?

Eric

Le 22/03/2013 11:32, Felix Ruess a écrit :

Hi,

did you already set a higher I2C speed? The default 200kHz are probably not enough to send commands to 8 (or even 6) motor controllers at 512Hz.

<define name="I2C1_CLOCK_SPEED" value="400000"/>

Also would be good if you can take a look at the I2C_ERRORS message.

And in latest master the variable actuators_mkk.submit_err_cnt counts how often a submit of a motor command didn't succeed.

Either look at this one via jtag or add it to some message to downlink it...

Cheers, Felix

On Fri, Mar 22, 2013 at 9:15 AM, Christophe De Wagter <address@hidden> wrote:

Is there any chance you might be able to put a logic analyser on the I2C bus and share the results? 

e.g. http://www.saleae.com/logic 

-Christophe 

On Thu, Mar 21, 2013 at 8:18 PM, Eduardo lavratti <address@hidden> wrote:

I do some tests using mkk controler 2 months ago.
With 4 motor it fly correct.
With 6 motor i have problem (some time one motor fail)
with 8 motor 2 / 3 motor fail.

After the initial tests the i2c level translator of my lisa has burned.

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Date: Thu, 21 Mar 2013 20:15:29 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] motor command error on hexa------work arround progress

hi felix,

My quad fly correctly with non consecutive adress....

I heva updated to master on monday.

Eric

Le 21/03/2013 19:15, Felix Ruess a écrit :

Hi,

This is weird... which paparazzi_version are you using?

Also make sure you don't get any warnings, they are (usually) there for a reason.

E.g with your previous config (starting servos at index 1) you should have gotten a warning about array indices being out of bounds...

That is a tell-tale sign that you misconfigured something.

My fraser quadrotor airframe works fine with non-consecutive addresses: https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/fraser_lisa_m_rotorcraft.xml

Cheers, Felix

On Thu, Mar 21, 2013 at 6:23 PM, Eric BAHIER <address@hidden> wrote:

Hi Seguey,

thank for you help.

If I use the basic motor order  from 0x52 to 0x5c  It is ok. As your.

In the past you can fit the ESC as is come.... with no specific order, and you can adapt it in the XML file.

Today if I try to adapte.... it fail....



Eric

Le 21/03/2013 17:16, Sergey Krukowski a écrit :

Eric, try to compare your setup with my hexa example.
https://github.com/softsr/paparazzi/blob/krooz_port/conf/airframes/krooz_1_0_hexa_mkk.xml
It works for me on mkk hexarotor, probably you’ll find what is actually wrong.

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Tel : 33 4 67 59 92 53
Fax : 33 9 59 15 92 53
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France

Tel : 33 4 67 59 92 53
Fax : 33 9 59 15 92 53
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34 980 Montferrier sur LEZ
France

Tel : 33 4 67 59 92 53
Fax : 33 9 59 15 92 53
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