Re: [Paparazzi-devel] Pointing quadcopter?

[Ben Laurie]

On 26 November 2013 14:04, Gautier Hattenberger
<address@hidden> wrote:
> Hi,
>
> Maybe you should try
> <define name="ROTORCRAFT_CAM_DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_WP"/>
> <define name="ROTORCRAFT_CAM_TRACK_WP" value="WP_CAM"/>
>
> Note that default track wp is already WP_CAM, so you can probably remove it.

Aha ... I did this, and it worked, thanks. I'll upload the video soon
(still haven't fixed the framerate problem, tho).

> Other possibility: add a section node in your airframe instead of defines in
> the modules node and use "prefix"
> <section name="CAM" prefix="ROTORCRAFT_CAM_">
>   <define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_WP"/>
>   <define name="TRACK_WP" value="WP_CAM"/>
> </section>
>
> Gautier
>
> Le 24/11/2013 16:13, Ben Laurie a écrit :
>
>
>
>
> On 20 November 2013 13:30, Felix Ruess <address@hidden> wrote:
>>
>> Hi,
>>
>> you can also use the rotorcraft_cam module to always point it towards a
>> certain waypoint.
>
>
> I tried this, but it didn't seem to do anything (heading stayed as it was on
> takeoff, I could change it in settings and it did change).
>
> Here's what I have in the modules section...
>
>   <modules main_freq="512">
>     <load name="gps_ubx_ucenter.xml">
>       <define name="GPS_PORT_ID" value="GPS_PORT_USB"/>
>     </load>
>     <load name="rotorcraft_cam.xml">
>       <define name="DEFAULT_MODE" value="MODE_WP"/>
>       <define name="TRACK_WP" value="CAM"/>
>     </load>
>     <!--load name="sys_mon.xml"/-->
>   </modules>
>
> What did I do wrong?
>
>>
>>
>> Cheers, Felix
>>
>>
>> On Wed, Nov 20, 2013 at 12:23 PM, Ben Laurie <address@hidden> wrote:
>>>
>>>
>>>
>>>
>>> On 19 November 2013 18:57, Sergey Krukowski <address@hidden> wrote:
>>>>
>>>> Afaik, there is a variable nav_heading in rotorcraft_guidance.xml. But
>>>> seems that you have to manually calculate the heading. I'm not sure if the
>>>> circle block under default flight plan is able to point the airframe. But 
>>>> it
>>>> should not be to hard to add this feature.
>>>
>>>
>>> Any hints where I'd have to look?
>>>
>>>>
>>>>
>>>> Best Regards,
>>>> Sergey
>>>>
>>>>> On 19 November 2013 16:57, Felix Ruess <address@hidden> wrote:
>>>>>
>>>>>> Hi,
>>>>>>
>>>>>> of course it is a bit easier if your IMU already points in the
>>>>>> direction
>>>>>> you consider the front of your multirotor.
>>>>>> Then you can just set the BODY_TO_IMU
>>>>>> orientation<http://paparazzi.enac.fr/wiki/Subsystem/imu#Defining_the_orientation_of_the_IMU>
>>>>>> to
>>>>>>
>>>>>> zero (or only a few degrees to account for mounting misalignment).
>>>>>>
>>>>>> But this is not a prerequisite, you can set any BODY_TO_IMU
>>>>>> orientation
>>>>>> for AHRS int_cmpl_quat and it will deal with it correctly.
>>>>>> E.g. on my quadrotor I have the IMU mounted 45deg rotated as it was
>>>>>> easier
>>>>>> to mount.
>>>>>>
>>>>>> Regardless of how your IMU is oriented, you have to specify how your
>>>>>> motors are arranged (how many, turning direction, placement) in the
>>>>>> MOTOR_MIXING section.
>>>>>> The wiki lists common examples like a quadrotor + and x configuration,
>>>>>> for
>>>>>> more advanced motor placement
>>>>>> http://paparazzi.enac.fr/wiki/RotorcraftMixing describes how to
>>>>>> compute
>>>>>> the needed motor mixing.
>>>>>>
>>>>>
>>>>> That's not what I really meant, I think. I meant, can I create a flight
>>>>> plan that says, for example, "fly from P1 to P2 while pointing at P3"?
>>>>>
>>>>>
>>>>>>
>>>>>> Hope that helps,
>>>>>> Felix
>>>>>>
>>>>>>
>>>>>> On Tue, Nov 19, 2013 at 4:52 PM, Marius Pfeffer
>>>>>> <address@hidden>wrote:
>>>>>>
>>>>>>> Hello
>>>>>>>
>>>>>>> First you schould mount the imu facing the right position.
>>>>>>>
>>>>>>> And second set the right xml parameters for motor mixing (aka
>>>>>>> supervision)
>>>>>>> http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Motor_Mixing
>>>>>>>
>>>>>>> Regards
>>>>>>> Marius
>>>>>>> Am 19.11.2013 10:27 schrieb "Ben Laurie" <address@hidden>:
>>>>>>>
>>>>>>>>  Is there a way to choose which way a quad points?
>>>>>>>>
>>>>>>>>
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