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Re: [Paparazzi-devel] ardrone2_raw / joystick success


From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] ardrone2_raw / joystick success
Date: Wed, 26 Feb 2014 18:02:35 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:17.0) Gecko/20131103 Icedove/17.0.10

Hi,

I have started to fly an ardrone in manual today, and it seems that the SP_MAX_R which define the max yaw rate is way to high and can be reduced to 200 deg/s or less for an easier control in manual. Also the gains can be increased compared to the values in example file. I'm using
PGAIN=1600
DGAIN=450
IGAIN=120
for PHI and THETA without issues (indoor flight only for now).

Btw, the mag seems to be really crappy...

Gautier

Le 26/02/2014 17:51, oswald berthold a écrit :
much autonomous, so flying, wow. it finally worked out.

the missing bit seems to have been the GPS_PORT_ID parameter for
ubx_ucenter, so in ardrone2_raw.xml i needed

     <load name="gps_ubx_ucenter.xml">
         <define name="GPS_PORT_ID" value="GPS_PORT_USB" />
     </load>

yaw issue: yaw control seems weird. when flying manually, ardrone keeps
turning long after yaw stick has returned to zero.

i also noticed that phi/theta pgain for attitude_stabilization are not
exactly equal, is that done on purpose?

bst, opt

Oswald Berthold writes:

salut,

thanks for that, the parentheses ..

short update on GPS issues:
  - brought in my drotek ublox6 module
  - compiled and uploaded cdc-acm.ko to work with 2.6.32.9-g98...
  - configured gps for ubx / 57600 baud, 4Hz
  - when i check in ucenter it claims to be configured for UBX in + out
    protocols
  - when i cat </dev/ttyACM0 it looks lie NMEA to me, coming in at 4Hz
    too.

this last bit confuses me (again) but is consistent with GCS, as i do
receive GPS data OK if i set gps subsystem to type "nmea". launch button
remains gray though and engines won't start. using subsystem gps type
"ublox" i don't receive any GPS data.

ppz ucenter module doesn't seem to help either.

bst, opt

Gautier Hattenberger writes:

Hi,

Ivyprobe needs a regexp as parameter to show you something:
- to see all messages: ivyprobe '(.*)'
- to see a specific message (rotorcraft status for instance): ivyprobe
'(.* ROTORCRAFT_FP .*)'
- ...

With "messages" tool, you can also start with an option to see messages
from an other class than telemetry (downlink): messages -c datalink

Gautier


Le 25/02/2014 17:03, oswald berthold a écrit :
dear all,

yesterday i (finally) did my first paparazzi powered flight with
ardrone2_raw. the flight was done in manual mode using a joystick. this
worked out quite straightforwardly.

as for the GPS / flight recorder: there seem to be several issues
regarding the flight recorder box.

   - i have two of those boxes. the one i was using last week decided to
     quit service over the weekend, all it does now is rapid blinking of
     the LED, neither GCS nor sirf demo report any useful data from the
     device.
   - the second box was acquiring a fix but trying to follow both
     onefastdaddy's report in the mayday kill mode emails as well as
     instructions from paparazzi user manual didn't yield anything. one
     problem is that in the GCS the "Launch" button is not active
     (gray). The Start engine block doesn't have any effect
     either. although when i click the resurrect button in the control
     strip the motors spin up to idle.
   - in short i might be trying another GPS module
   - on a side note: has anyone gotten the flight recorder to appear as a
     GPS in a desktop linux system? i'm suspecting use of usb_modeswitch
     might help but the parameters ..  well.

vision: can anyone maybe comment on status and plans for the vision
framework?

finally, regarding telemetry and messages: i am confused by the fact
that the "mesages" tool only shows messages coming from the ap. how
would i go about debugging / viewing any kind of msgs on the bus such as
uplink, downlink or lateral messaging? i seem to remember using ivyprobe
for that but it only gives me the message names, not the contents.

please excuse the spill,
regards, opt

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