From: "address@hidden" <address@hidden>
To: address@hidden
Sent: Sat, 31 October, 2009 1:37:47 AM
Subject: RE: [Paparazzi-devel] Tracking antenna
I modified the
ant_track.c code in the paparazzi3/sw/ground_segment/cockpit folder to make
it correctly estimate the azimuth and elevation angles based on the information
contained in the GPS and NAVIGATION telemetry messages through the IVY
bus (see
attached file).
To use
it,
1. Open a terminal
window and go to the "paparazzi3/sw/ground_segment/cockpit" folder.
2. Compile it with:
make ant_track
3. Run it with:
./ant_track
4. A GUI should
appear. Click on AUTO.
5. Launch an
aircraft in paparazzi (use the simulator) and you will see the azimuth/elevation
updated on the GUI.
The code could be
easily modified to send the azimuth/elevation values through a USB serial
port to a servo-based tracker.
Have
fun.
Cheers,
Mark
I know, but its hard to give you any advice without seeing the actual code.
For ex., here is my code for one of my xbee class transmit functions below.
This is taken from the working code. I use ByteBuffer class like this:
public void sendTX(byte[] toSend, int dest) throws IOException
{
int len=toSend.length+9;
ByteBuffer
buff=ByteBuffer.allocate(len);
buff.put((byte)0x7E);
buff.putShort((short)(len-4));
buff.put((byte)0x01);
// send RF data command
buff.put((byte)0x0A); //frame id for
future ACK
if
(dest==39)
buff.putShort((short)0xA); //destination
address
else buff.putShort((short)dest); //destination
address
buff.put((byte)0x00);
//options
buff.put(toSend);
add_checksum(buff.array());
os.write(buff.array());
//write to output stream
}
One more thing, in eclipse debug mode you can see all your data in hex and
check if this data looks correct.
my 1c. :)
Roman
2009/10/28 Todd Sandercock
<address@hidden>
Sweet, i have one day of uni left then i will clean up the code and
somehow get it on svn. I don't really like the idea of putting java on the
paparazzi svn but if you want it i can do it.
for the servo controller board that i was using you needed to send 0x80
to get it into one of the modes and a signed byte doesn't really do the job
for that
Todd
From: Roman Krashanitsa <address@hidden>
Sent: Thu, 29 October, 2009 3:51:51 AM
Subject: Re:
[Paparazzi-devel] Tracking antenna
Hello Todd,
It would be nice if you could share your java project on svn. We could
chip in and make some additions/suggestions.
As of myself, I did implement complete paparazzi core protocol for xbee
and aerocomm on java, works fine, no errors or lockups. Overall, I don't see
any problem with java signed byte type. You need to convert to int only if you
have to compare to unsigned byte (or rather convert unsigned to signed if its
a constant). Otherwise, use it as is.
I used standard Sun Serial API on windows and third-party
drivers on Linux, but downloaded from sun as well.
Sincerely,
Roman
2009/10/27 Todd Sandercock
<address@hidden>
Well i tried a few different api's until i got one to
actually work on windows and linux. i can't remember which one i used.
My computer that had all that stuff on it had an accident with some
ati drivers last night so i have had to revert back to intrepid and
with that i don't have .... long story short i can't open the eclipse
workspace files at the moment to see what api i actually used.
The big issue with the java api was trying to send the "0x00".
you think its sent it properly but nothing worked with the servo
controller. so i plugged 2 ftdi cables into each other and worked out
that every time that i sent a "0x00" it turned everything after it to
garbage. If you have a fix that would be great!
The other thing with java is that there is no such unsigned
variables. so when you are trying to send anything higher than 127 you
have to use an int. DUMB!
anyway....
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