Re: [Paparazzi-devel] Using Waypoints in GPS/absolute coordinates (Maste

Hi Chris,

yes, ground_alt is initially set to the value specified in the flight plan in any case.

But as soon as you call NavResetGroundReferenceHere() or NavSetAltitudeReferenceHere() the ground_alt is set to the current hmsl.

The former resets the origin of the local NED coordinate system to the current position while the latter only (re)sets the altitude.

Also relative waypoints are not relative to the HOME waypoint, but to the local coordinate system.

Cheers, Felix

On Thu, Jun 6, 2013 at 9:32 AM, hendrixgr . <address@hidden> wrote:

Hi Felix.
I take it that even if i set "USE_INS_NAV_INIT" to FALSE the ground_alt is still set from the flight plan's header values or i need to set the "ground_alt" my self?

I use a mixed flight plan where some waypoints use lat/long absolute values and some are relative so i guess that all relative waypoints are relative to the "HOME" waypoint
(taken as 0,0)

Chris

Hi,
just committed a change to master which sets USE_INS_NAV_INIT to TRUE by
default.
To explicitly disable it add <define name="USE_INS_NAV_INIT"
value="FALSE"/> to your firmware section.

Cheers, Felix

On Wed, Jun 5, 2013 at 5:32 AM, <address@hidden> wrote:

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Today's Topics:

1. Re: Paparazzi installer on mac? (Stephen Dwyer)
2. Re: Using Waypoints in GPS/absolute coordinates (Master
branch) (Felix Ruess)
3. Add serial baudrate option to telemetry downlink
(Michal Podhradsky)
4. Telemetry message rate >>60Hz? (Michal Podhradsky)

----------------------------------------------------------------------

Message: 1
Date: Tue, 4 Jun 2013 11:31:24 -0600
From: Stephen Dwyer <address@hidden>
To: address@hidden
Subject: Re: [Paparazzi-devel] Paparazzi installer on mac?
Message-ID:
<address@hidden>
Content-Type: text/plain; charset="iso-8859-1"

Hello,

I updated the wiki a little bit again. The simulator is working again on
master I believe, but launching agents from paparazzi center on 10.8 is
still broken. (Agents can still be run from the command line with no
problems). arm-non-eabi-gdb won't work on 10.6 with a default install. One
can try to install gcc-arm-embedded from source without the python option,
or potentially try installing python 2.7 with the binary installer from
python.org. I haven't tested either. In any case, one only needs gdb if
doing development work with a jtag/swd debugger on the STM32.

The binary installers are not available because the OS X build machines on
the build server are not in service, and there has been no time to migrate
the build server to a new physical server.

Keep in mind installing from Macports, while taking considerably longer
than the binary install, shouldn't be that difficult if the instructions
are followed. Plus, you can get all the other software available from
Macports!

Hopefully that helps.

Thanks,
-Stephen Dwyer

On Tue, Jun 4, 2013 at 1:47 AM, Marius Pfeffer <address@hidden>wrote:

> Why do you not use Linux on a boot live cd ?
>
> Currently installation on Mac OSx seems to bee difficult:
>
> "The OS X installation is may be temporarily broken, as well as the links
> to the binary installer. This is being actively resolved, and hopefully
> will be finished soon. (March 20, 2013). Update on OS X installation:
> Macports install should be working fine for 10.6, 10.7 and 10.8, but the
> binary installer is still not available. arm-none-eabi-gdb will not run
> properly on 10.6 at the moment. The simulator in master is currently
> broken, and launching agents from paparazzi center in 10.8 is also broken.
> (April 9, 2013)"
>
> Copied from: http://paparazzi.enac.fr/wiki/Installation/MacOSX
>
> Marius
> Am 04.06.2013 09:09 schrieb "Iman Shirdareh" <address@hidden>:
>
>> Hello
>>
>> I can't download paparazzi installer for Lion by this link:(it seems
>> broken!)
>> Lion <https://dl.dropbox.com/u/54220220/paparazzi-tools-Lion.dmg>
>>
>> please fix the download link
>>
>>
>> Thanks a lot........Iman

>>
>> _______________________________________________
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>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
> _______________________________________________
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Message: 2
Date: Wed, 5 Jun 2013 00:01:35 +0200
From: Felix Ruess <address@hidden>
To: Paparazzi devel list <address@hidden>
Subject: Re: [Paparazzi-devel] Using Waypoints in GPS/absolute
coordinates (Master branch)
Message-ID:
<CAEc+GFfvrND=address@hidden>
Content-Type: text/plain; charset="utf-8"

Hi,

just committed a change to master which sets USE_INS_NAV_INIT to TRUE by
default.
To explicitly disable it add <define name="USE_INS_NAV_INIT"
value="FALSE"/> to your firmware section.

Cheers, Felix

On Sun, May 12, 2013 at 4:55 PM, Gautier Hattenberger <
address@hidden> wrote:

> Hi,
>
> I did the nav init a long time ago and using flight plans was still
> experimental at that time.
> If the flag is not set, the ins init will be done as soon as the the GPS
> gets a 3D fix, so the behavior is the same than NavSetGroundReferenceHere.
> It is not the default because at that time we wanted to have local flights
> if nothing was set. Maybe it is not true anymore.
>
> Gautier
>
> Le 12/05/2013 13:20, Loic Drumettaz a ?crit :

>
> Hi Felix,
>
> It does help, thanks!
>
> So I see 2 user cases:
> 1: Relative coordinates: call NavSetGroundReferenceHere during geo init
> in the flight plan and the flight plan origin is defined instead of lat0
> and lon0 in the flight plan .xml file. In that case it's preferable to
> define the waypoints in relative coordinates. If absolute coordinates are
> used, the waypoints position will be wrong after geo init...
>
> 2: Absolute coordinates: set USE_INS_NAV_INIT to "TRUE" in airframe
> configuration xml file. The flight plan origin is defined by lat0 and lon0
> coordinates in the flight plan. In that case it's preferable to define the
> waypoints in absolute coordinates. If relative coordinates are used to
> define the waypoints, that's OK, the only thing is that the origin of the
> flight plan is defined at lat0 and long0.
>
> What happens if USE_INS_NAV_INIT is left to FALSE and the origin is not
> initialized using NavSetGroudReferenceHere? Is that case meaningfull?
>
> Why not set USE_INS_NAV_INIT to TRUE by default? The user can then still
> call NavSetGroundReferenceHere in the flight plan to reset the origin of
> the flight plan if he wants?
>
> Regards
> Lo?c

>
>
>
>
>
>
> ----------------------------------------------------------------------------------------------------------
> Hi Loic,
>
> absolute coordinates are currently not really handled in a nice way,
> improvements welcome.
>
> What you can do is to add <define name="USE_INS_NAV_INIT" value=TRUE"/>
> This will initialize the ground reference (origin of the LTP) with the
> flight plan coordinates, instead of leaving it uninitialized (to be set
> from the GPS fix with NavSetGroundReferenceHere).
> You still need to remove NavSetGroundReferenceHere from your geo init
> though, as that would just reset it to the current position.
>
> If you still want your home waypoint to be automatically set to where
> you start, in geo init: <call fun="NavSetWaypointHere(WP_HOME)"/>
>
> Hope that helps...
> Cheers, Felix
>
>
>
>
> _______________________________________________
> Paparazzi-devel mailing address@hidden://lists.nongnu.org/mailman/listinfo/paparazzi-devel

>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
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>
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Message: 3
Date: Tue, 4 Jun 2013 20:30:02 -0600
From: Michal Podhradsky <address@hidden>
To: address@hidden
Subject: [Paparazzi-devel] Add serial baudrate option to telemetry
downlink
Message-ID:
<CAG7E6fhkQFNu=address@hidden>
Content-Type: text/plain; charset="iso-8859-1"

Hi folks,

I am reading telemetry from the autopilot through FT232 USB to Serial
breakout board (debugging purposes) and I would like to use higher
baudrates (e.g. 921600). On the autopilot side it is no problem (Lisa M
2.0), but the Ocaml serial interface does not recognize anything over
230400.

I added new record (B921600) to sw/lib/ocaml/serial.ml and recompiled the
GCS, but I got the following error:
OC serial.ml
File "serial.ml", line 1, characters 0-1:
Error: The implementation serial.ml does not match the interface serial.cmi:
Type declarations do not match:
type speed =
B0
| B50
| B75
| B110
| B134
| B150
| B200
| B300
| B600
| B1200
| B1800
| B2400
| B4800
| B9600
| B19200
| B38400
| B57600
| B115200
| B230400
| B921600
is not included in
type speed =
B0
| B50
| B75
| B110
| B134
| B150
| B200
| B300
| B600
| B1200
| B1800
| B2400
| B4800
| B9600
| B19200
| B38400
| B57600
| B115200
| B230400
The field B921600 is only present in the first declaration.
make[1]: *** [serial.cmo] Error 2
make: *** [libpprz] Error 2

Do you know how to correctly set/recompile the paparazzi ocaml library
(obviously the file serial.cmi has to be recompiled)?

Thanks!
Michal
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Message: 4
Date: Tue, 4 Jun 2013 20:31:57 -0600
From: Michal Podhradsky <address@hidden>
To: address@hidden
Subject: [Paparazzi-devel] Telemetry message rate >>60Hz?
Message-ID:
<CAG7E6fgxCPwh2fbbV0nG771=address@hidden>
Content-Type: text/plain; charset="iso-8859-1"

Hi folks,

one more question. The maximal message rate is now (master) hard limited to
60Hz. Is there a way how to increase the rate to an arbitrary value (100Hz,
300Hz)?

Assume I have enough bandwidth (Autopilot->serial-to-usb converter->GCS).

Cheers
Michal
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From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] Using Waypoints in GPS/absolute coordinates (Master branch)
Date:	Sat, 8 Jun 2013 17:04:18 +0200