Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c

[Martin Mueller]

Hi,

The raw baro messages should stay what they are: raw baro messages. They include
all original sensor data and together with the calibration data the values can
be re-calculated. You need a different message for each sensors type to keep
them apart.

If you need an altitude estimation from the baro sensors you should have that in
a separate module and message.

> Felix, i like the idea to have the AGL in the messages.
> This is important when using UAV in photogrametry.
> I like to see the AGL in GCS to confirm that UAV are in correct altitude.

The AGL in the gcs uses the SRTM to get an altitude from GPS which I feel is
safer and more consistent.

Martin


>
> May be a message like that used in ins_extended that show the baro and sonar
> values but in meters.
>
> in my work UAV i ever modify the ppz to have de baro AGL but i think that
> ins_alt_z in much more precise then an AGL using alt_z is much more precise.
>
> cya
>
> Date: Tue, 3 Sep 2013 17:14:22 +0200
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c
>
> Hi Alonso,
> the altitude will always be a bit off, since you have pressure differences due
> to weather. That is why you normally use the pressure at level of the field
> before taking off (QFE) as a reference.
> Also the altitude computed in the module is not really used (and indeed should
> not be)... just didn't remove that for now.
> For that reason IMHO it doesn't make much sense to compute the pressure in the
> modules anyway and hence there isn't much benefit in adding an altitude field
> it to the BARO_MS5611 message. This message is mostly meant for meteorological
> applications where you want the raw measurements.
>
> Regarding the two "implementations" of the baro_ms5611. The rotorcraft
> firmware currently still uses the global baro struct (was introduced for baros
> already present on an autopilot).
>
> With the proposal to use ABI for the baros, this struct would not be needed
> anymore and the implementation in subsystems/sensors could be removed.See
> https://github.com/paparazzi/paparazzi/pull/525
>
> Cheers, Felix
>
> On Tue, Sep 3, 2013 at 6:47 AM, alonso acuña <address@hidden> wrote:
>
> This is working now. Pressure seems reasonable (I have no other sensor to
> confirm) but the altitude estimation is about 50m less than actual altitude.
>
> I was wondering why are there 2 files
> sw/airborne/modules/sensors/baro_ms5611_spi.c
> sw/airborne/subsystems/sensors/baro_ms5611_spi.c
>
> The first one appears to be the one running and the other one does not have
> the altitude calculation. I sent a pull request to add the altitude to the
> message but only changed the files in sw/airborne/modules/sensors/
>
>
>
>
>
> On Sat, Aug 31, 2013 at 1:01 PM, Felix Ruess <address@hidden> wrote:
>
>
> Ah, and you need to enable the slave pin: <define name="USE_SPI_SLAVE3"> in
> the firmware section of your airframe file.
>
>
> I'm not really sure about how to provide nice defaults for this, since this
> depends on your board, and even then you might want to connect an external
> ms5611 on other pins...
>
>
> On Sat, Aug 31, 2013 at 7:14 PM, Felix Ruess <address@hidden> wrote:
>
>
>
> Hi Alonso,
> you seem to have removed <define name="MS5611_SLAVE_DEV" value="SPI_SLAVE3"/>,
> add it again.
>
>
>
> This defines the SlaveSelect line that used for the baro and it currently
> defaults to SPI_SLAVE0 which is not correct for the baro on LisaM/Aspirin2.2
>
>
>
>
> Cheers, Felix
>
>
> On Sat, Aug 31, 2013 at 6:59 PM, alonso acuña <address@hidden> wrote:
>
> Hi. I have it like this   <load name="baro_ms5611_spi.xml">      <define
> name="MS5611_SPI_DEV" value="spi2"/>     
>
>
>
>      <define name="SENSOR_SYNC_SEND"/>
>     </load>    <load name="baro_board.xml">      <define name="BARO_ABS_EVENT"
>value="BaroMs5611UpdatePressure"/>    </load> 
>
>
>
>
>
> I am getting the BARO_RAW message but it always says 0,0I also get BAR_MS5611
> but d1 and d2 are always 16777215 , pressure is 0 and temp is 20.  Real temp
> was around 26 at the moment.
>
>
>
>
>
> baro_ms5611_alt is set to a crazy number and baro_ms5611_alt_valid is set to
> TRUE. Perhaps there should be some more checks before considering it valid. 
> Also it would be nice to see this altitude in the message.
>
>
>
>
>
>
> Thanks
>
> On Fri, Aug 30, 2013 at 2:22 AM, Felix Ruess <address@hidden> wrote:
>
>
>
>
>
> Hi Alonso,
> Sorry, forgot to update the new SPI version as well when we fixed the baro
> update event handlers.
>
>
>
>
> Should be fixed in master.Also the ms5611 is on spi2 on lisa/m, so <define
> name="MS5611_SPI_DEV" value="spi2"/>
>
> Cheers, Felix
>
> On Fri, Aug 30, 2013 at 2:20 AM, alonso acuña <address@hidden> wrote:
>
>
>
>
>
>
> The error I get is
> firmwares/fixedwing/main_ap.c:653:49: error: macro "BaroMs5611UpdatePressure"
> passed 2 arguments, but takes just 1
>
>
>
>
>
>
>
>
>
> On Thu, Aug 29, 2013 at 6:13 PM, alonso acuña <address@hidden> wrote:
>
>
>
>
>
>
>
> Hi. I am trying with   <load name="baro_ms5611_spi.xml">      <define
> name="MS5611_SPI_DEV" value="spi3"/>      <define name="MS5611_SLAVE_DEV"
> value="SPI_SLAVE3"/>
>
>
>
>
>
>
>
>     </load>    <load name="baro_board.xml">      <define name="BARO_ABS_EVENT"
>value="BaroMs5611UpdatePressure"/>    </load>
>
>
>
>
>
>
>
>
> But I get : arm-none-eabi-gcc: error: boards/lisa_m/baro_ms5611_spi.c: No such
> file or directory
>
>
>
>
> On Wed, Aug 28, 2013 at 8:26 AM, Felix Ruess <address@hidden> wrote:
>
>
>
>
>
>
>
>
> Hi all,
> the cleaned/improved code is merged into master
> now.https://github.com/paparazzi/paparazzi/pull/515
>
>
>
>
>
>
>
>
>
>
> Cheers, Felix
>
> On Tue, Aug 27, 2013 at 10:06 PM, Felix Ruess <address@hidden> wrote:
>
>
>
>
>
>
>
>
>
> Hi all, Rolf,
> I refactored the ms5611 code and made a proper reusable peripheral (and added
> a SPI version module).
>
>
>
>
>
>
>
>
> While already there I added a check for d1/d2 being zero, discarding the
> measurement if it's the case.
> So this problem should not occur anymore.
> This stuff is currently in the baro_peripherals branch.  git remote update 
> git checkout baro_peripheralsSome tests of this would be very much appreciated
> since I don't actually have the sensor...
>
>
>
>
>
>
>
>
>
>
> Cheers, Felix
>
> On Thu, Apr 18, 2013 at 8:12 AM, "Rolf Nöllenburg" <address@hidden> wrote:
>
>
>
>
>
>
>
>
>
>
>
> Hi Felix,
>
> 
>
> I still have the problem of broken d2s from time to time, but I'm flying with
> the dirty workaround I described a few mails ago. It works ok for the moment
> as it takes a look at the current value of d2 and replaces it with the
> previous one, if it seems to be broken. In case of a replacement, a counter
> increases by one so I'm able to track the events. It occures randomly but I
> have often flights with at least one event and in one flight of about 25
> minutes I saw 12 events in the log.
>
>
>
>
>
>
>
>
>
>
>
> 
>
> As you see, I don't have a solution which is pushable and I didn't have taken
> the time to search the cause of the problem so far. I also never tried it on
> master branch.
>
> 
>
> As no one else seems to have this problem, it could be a hard- and software
> specific problem of my setup. Anyway, I'll give an update when I have found
> the source of the problem.
>
> 
>
> Cheers,
>
> Rolf
>
> 
>
> Gesendet: Mittwoch, 17. April 2013 um 11:02 Uhr
>
> Von: "Felix Ruess" <address@hidden>
>
> An: "Paparazzi devel list" <address@hidden>
>
> Betreff: Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c
>
>
>
>
>
>
> Hi Rolf,
>
>
>
> what is the status on this?
> If this needs to be fixed in v4.2 please let us know, or even better make a
> pull request with the fix on github ;-)
> Did you also run long tests for the code in master?
>
> 
> It's really important that problems like this get properly fixed in the main
> Paparazzi repository.
>
> But for that to become a reality we need the help from all of you to get the
> fixes back (not enough if you have them locally fixed for you).
>
> There are so many drivers and combinations supported that not everything can
> be tested by the few core committers we have.
>
> 
> Cheers, Felix
>
> 
> On Mon, Feb 4, 2013 at 1:21 PM, "Rolf Nöllenburg" <address@hidden>
> wrote:
>
> My observations:
>
> I made a static 200 minute test yesterday and no glitches of d2 occurred.
>
> Last friday I had seven glitches in 170 minutes on the bench.
>
> Some randomly chosen flightlogs of the last four months revealed 3 glitches in
> 355 minutes.
>
>
>
> The flights were carried out with an old height calculation where estimator_z
> recovered (peaks: ground_alt+2500m -> ground_alt-380m -> normal height within
> 2 seconds) and only led to a short but intense "bow". I don't want to know
> what the plane would have done with estimator_z=nan.
>
>
>
>
>
>
>
>
>
>
>
>
>
> My conclusion so far: these glitches do occur but at rare intervals - at least
> with my setup. My previously mentioned interval of once in 20 minutes was way
> to pessimistic, sorry for that.
>
>
>
> @michal: I'll have a closer look to your code, thank you for that hint.
>
>
>
>
>
>
>
> -------- Original-Nachricht --------
>
> > Datum: Sat, 2 Feb 2013 18:53:59 -0200
>
> > Von: Eduardo lavratti <address@hidden>
>
> > An: Paparazzi developer forum <address@hidden>
>
> > Betreff: Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c
>
>
> >
>
> > HUmmmm i am using ppz v4.2 +yapa + ms5611.
>
> > I made 5x 45~55min flight this week without any problem with baro.
>
>
> > Date: Sat, 2 Feb 2013 09:28:17 -0700
>
> > From: address@hidden
>
> > To: address@hidden
>
> > Subject: Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c
>
> >
>
> > Hi Rolf,
>
> >
>
> > i think this glitch can occur when you are asking for D2 value before the
>
> > conversion is done. I ran to it when I was writing ms5611 drivers for
>
> > master branch. It helped to slightly rearrange the periodic and event
> > functions
>
> > (see
>
> > https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/boards/lisa_m/baro_board_i2c.c).
> > It was written for Lisa M 2.0, but might be
>
>
>
>
>
>
>
>
>
>
>
> > useful for yapa too.
>
> >
>
> >
>
> > The longest I ran barometer continuously was for like 35 minutes and no
>
> > glitch occurred.
>
> >
>
> > Btw if the estimator cannot handle NaN values, probably the estimator code
>
> > should be fixed, rather than "outlier removal" in baro code - what if the
>
> > sensor stops working during the flight etc...
>
> >
>
> >
>
> > Hope it helps.
>
> >
>
> > M
>
> >
>
> > On Sat, Feb 2, 2013 at 6:08 AM, "Rolf Nöllenburg" <address@hidden>
>
> > wrote:
>
> >
>
> > Hi
>
> >
>
> >
>
> >
>
> > I just discovered a severe problem (luckily on the desk) with the module
>
> > baro_ms5611_i2c: the communication via i2c can get faulty which leeds to
>
> > estimator_z = nan and it DOES NOT RECOVER!!!
>
> >
>
> >
>
> >
>
> > This happens not very often, approx. once in 20 min.
>
> >
>
> >
>
> >
>
> > I think that the problem is starts with a zero in D2. This leads to
>
> > messages in the log-file like the following:
>
> >
>
> >
>
> >
>
> > 2174.155 11 ESTIMATOR 1.195065 0.513844
>
> >
>
> > 2174.174 11 BARO_MS5611 7803588 8440836 1001.38 38.9
>
> >
>
> > 2174.269 11 BARO_MS5611 7803430 0 -2230.73 -242.71
>
> >
>
> > 2174.369 11 BARO_MS5611 7803606 8440764 1001.38 38.89
>
> >
>
> > 2174.397 11 ESTIMATOR nan nan
>
> >
>
> > 2174.465 11 BARO_MS5611 7803424 8440874 1001.34 38.9
>
> >
>
> > 2174.566 11 BARO_MS5611 7803488 8440640 1001.34 38.89
>
> >
>
> > 2174.684 11 ESTIMATOR nan nan
>
> >
>
> >
>
> >
>
> > A pressure of -2230.73 is obviously too much (or little) for the hight
>
> > calculation...
>
> >
>
> >
>
> >
>
> > My system:
>
> >
>
> > - Paparazzi version v4.2.0_stable-5-gc3a1496-dirty
>
> >
>
> > - YAPA 2
>
> >
>
> > - Drotek IMU (mpu6050, hms5883, ms5611) on i2c1
>
> >
>
> > - PERIODIC_FREQUENCY=AHRS_PROPAGATE_FREQUENCY=AHRS_CORRECT_FREQUENCY=60Hz
>
> >
>
> > - baro_ms5611_periodic=baro_ms5611_d1=baro_ms5611_d2=10Hz
>
> >
>
> >
>
> >
>
> > I am working on a fix via something like this starting in line 211 of
>
> > baro_ms5611_i2c.c:
>
> >
>
> >
>
> >
>
> >       /* avoid glitches in d2
>
> >
>
> >       if (ms5611_d2 < 1000000) {
>
> >
>
> >         ms5611_d2 = ms5611_d2_prev;
>
> >
>
> >       } else {
>
> >
>
> >         ms5611_d2_prev = ms5611_d2;
>
> >
>
> >       }
>
> >
>
> >
>
> >
>
> > I tried this with a fixed replacement-value of 7000000 instead of
>
> > ms5611_d2_prev and it looks promising (estimator_z jumps to about 200m and
> > recovers
>
> > within 1 second). I just need some testing ...
>
> >
>
> >
>
> >
>
> > _______________________________________________
>
> >
>
> > Paparazzi-devel mailing list
>
> >
>
> > address@hidden
>
> >
>
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
> >
>
> >
>
> >
>
> >
>
> > _______________________________________________
>
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>
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>
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
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