Re: [Paparazzi-devel] Gain parameters/kill Mode/Communications

[Felix Ruess]

Hi Christian,

do you only get into kill mode after you start the motor? Maybe your
AP is resetting because of a voltage drop?
As Martin pointed out earlier, If your position is totally wrong (and
hence you are further than KILL_MODE_DISTANCE) you go into kill mode
but still have manual control if you have a RC connection.

What SVN revision are you running?
Maybe you should update to the latest SVN revision and do a make in
the Paparazzi root dir, a make clean of the aircraft and then make and
upload to the AP again.
The failure suggests that the GCS has a different version of the
messages than the aircraft.

Cheers, Felix

On Tue, Aug 10, 2010 at 4:36 PM, Cb <address@hidden> wrote:
> Hi,
> we now got our Papparazzi system working in Auto 1, the elevator is still
> inducing slight oscillations but is sufficiently working.
> Our Airframe is very well stabilized now for these first test flights we use
> a Robbe Arcus which is similar to an easy Glider.
> Can anybody tell me which gain Parameters has to be tuned in which direction
> to reduce these oscillations?
> Directly after launching we get The Message: mayday Kill mode and nothing
> else.
> When we look at our flight plan the map and the plan is shown as expected,
> when we try to track the plane, we are somewhere else in the world.
> Anyone any suggestions?
>
> While running the GCS we get the messages:
>
> Failure("Pprz.values_of_payload, wrong argument: 00 08 ")
> Failure("Pprz.values_of_payload, too many bytes: 00 03 9b 2a 00 00 00 00 00
> 00 00 00 00 00 00 00 ")
> File "pprz.ml", line 371, characters 4-10: Assertion failed
> We use a serial protocol for communications, the error could correspond with
> the following data:
>
> http://svn.savannah.gnu.org/svn/paparazzi/paparazzi3/trunk/sw/lib/ocaml/pprz
> .ml
>
> In advance thanks for your help.
>
> Christian
>
>
> -----------------------------------------------------
> Christian Behrens
> Institut für Geowissenschaften
> Sigwartstraße 10
> 72072 Tübingen
> +49 (0)70712973136
>
>
> -----Ursprüngliche Nachricht-----
> Von: address@hidden
> [mailto:address@hidden
> g] Im Auftrag von address@hidden
> Gesendet: Montag, 9. August 2010 16:59
> An: address@hidden
> Betreff: Paparazzi-devel Digest, Vol 77, Issue 9
>
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> Today's Topics:
>
>   1. Re: Paparazzi on Linux and Lisa design questions (Chris Gough)
>   2. Re: I get a blank GCS when executing airframe (Edixon Giraldo)
>   3. Xbee pro modules won't communicate (Edixon Giraldo)
>   4. Re: Xbee pro modules won't communicate (maq)
>   5. PPM board set up and radio communication (Edixon Giraldo)
>   6. PPM board set up and radio communication (Edixon Giraldo)
>   7. Re: Xbee pro modules won't communicate (Felix Ruess)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Mon, 9 Aug 2010 10:29:11 +1000
> From: Chris Gough <address@hidden>
> Subject: Re: [Paparazzi-devel] Paparazzi on Linux and Lisa design
>        questions
> To: address@hidden
> Message-ID:
>        <address@hidden>
> Content-Type: text/plain; charset=ISO-8859-1
>
> I don't think restructuring the page hierarchy to different audiences
> (with namespaces) is the answer, the existing page taxonomy (General,
> Hardware, Software, Miscellaneous) is perfectly sensible.
>
> What if there was a UserManual category (with subcategories such as
> GettingStarted), where a less knowledge reader is assumed?
>
> Also, this looks interesting (but might not be ripe yet)
> http://www.mediawiki.org/wiki/Extension:DoxyWiki#English:_DoxyWiki_history_a
> nd_rationale
>
> Chris Gough
>
>
> On Mon, Aug 9, 2010 at 6:25 AM, antoine drouin <address@hidden> wrote:
>> a simpler bloc diagram :
>>  http://paparazzi.enac.fr/wiki_images/Lisa_l_bloc_diag_simple.png
>>
>> I have started to split the doc for Lisa between a developer part and
>> a user part, but it's still mostly empty for now.
>> I think we should do the same for the rest of the wiki : users don't
>> want to be overwhelmed with too technical informations, and developers
>> don't want to lose time with a bunch of details that may look trivial
>> to them.
>>
>> Now how do we get the search function of the wiki to handle that
>> user/developer separation ? tags ? using two wikis ?
>> What you guys think ?
>>
>> Regards
>>
>> Poine
>>
>> On Sat, Aug 7, 2010 at 11:52 AM, Tilman Baumann <address@hidden>
> wrote:
>>> Thanks.
>>> I'm not sure if anything that complex should be my first contact with
>>> paparazzi but it sounds totally awesome.
>>> Will see, I have to probably ease myself into this whole thing module by
>>> module, it is all happening under tight financial pressure. :)
>>>
>>> But I guess when I have that board and try some examples, I will find out
>>> rather quick how it all fits together...
>>>
>>> Regards
>>>  Tilman
>>>
>>> On 5 Aug 2010, at 21:51, antoine drouin wrote:
>>>
>>>> Hello Tilman
>>>>
>>>> There's a block schematic of Lisa/L on the wiki
>>>>
>>>> http://paparazzi.enac.fr/wiki/Image:Lisa_bd.png
>>>>
>>>> As you see, the board contains a STM32 (cortexM3 @ 72Mhz) with all
>>>> peripherals exposed ( UARTS, I2C, SPI, ADCs, CAN, input capture, PWMs)
>>>> and a socket for a gumstix Overo ( OMAP3 at 600Mhz). The link between
>>>> the two processor is done by SPI and served by DMA on both sides (so
>>>> alot of bandwith with little CPU overhead).
>>>> This architecture is designed to be flexible: the STM32 has the
>>>> potential to run all the current Paparazzi software alone ( that would
>>>> be one side of the spektrum ) or the STM32 can be used only as IO
>>>> processor and you can run your autopilot on the Overo ( that would be
>>>> the other end of the spektrum ). Of course anything in between is
>>>> possible, like for example running stabilization on the STM32 and
>>>> navigation on the Overo.
>>>>
>>>> I'm not sure if that answers your questions. Sorry for the late answer
>>>>
>>>> Regards
>>>>
>>>> Poine
>>>>
>>>> ps: I know the doc about Lisa sucks. I'm focusing on software those
>>>> days but I promise I'll work on documentation as soon as possible
>>>>
>>>> _______________________________________________
>>>> Paparazzi-devel mailing list
>>>> address@hidden
>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>
>
>
> --
> .
>
>
>
> ------------------------------
>
> Message: 2
> Date: Mon, 9 Aug 2010 09:18:15 -0500
> From: Edixon Giraldo <address@hidden>
> Subject: Re: [Paparazzi-devel] I get a blank GCS when executing
>        airframe
> To: "address@hidden" <address@hidden>
> Message-ID: <address@hidden>
> Content-Type: text/plain;       charset=us-ascii
>
> Ok, I figured out the problem. It was the FTDI board. The wires for the Tx
> signal and the Rx signal were switched. Once I I switched them around the
> GCS worked. However, I still cannot get the xbee's to communicate with each
> other.
>
> Thanks.
>
> Sent from my iPhone
>
> On Aug 8, 2010, at 5:21 PM, antoine drouin <address@hidden> wrote:
>
>> yes - and start a FAQ on the wiki when you've figured what was wrong
>>
>> On Mon, Aug 9, 2010 at 12:12 AM, Felix Ruess <address@hidden>
> wrote:
>>> Hi Eddie,
>>>
>>> the georef error occurs when your position is not yet initialized (
>>> you got no messages from the autopilot ).
>>> First get your link up and working before you can use the GCS.... you
>>> should get messages with the messages tool from the Paparazzi Center.
>>> If you have a FTDI serial<->USB cable you could connect that instead
>>> of the XBees to see if your Airframe setup is good.
>>>
>>> Others had the same problem before, try searching the mailing list
> archives.
>>>
>>> Cheers, Felix
>>>
>>> On Sun, Aug 8, 2010 at 11:58 PM, Edixon Giraldo <address@hidden>
> wrote:
>>>> Hi Felix,
>>>>
>>>> this is the error message I get:
>>>>
>>>>
>>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/tmtc/link  -d
>>>> /dev/ttyUSB0 -uplink  -s 57600'
>>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/tmtc/server '
>>>> Run '/home/egiraldo911/paparazzi3/sw/ground_segment/cockpit/gcs '
>>>> Thread 1 killed on uncaught exception Failure("#of_world : no georef")
>>>>
>>>> uplink seems to be ok.
>>>>
>>>> I get the 'georef error' when I click on the google earth icon and
>>>> everything still blank.
>>>>
>>>> here is my makefile code:
>>>>
>>>> CONFIG = \"tiny_2_1_1.h\"
>>>>
>>>> include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
>>>>
>>>> FLASH_MODE=IAP
>>>>
>>>> ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
>>>> ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
>>>> main_fbw.c main_ap.c main.c
>>>>
>>>> ap.srcs += commands.c
>>>>
>>>> ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
>>>> ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
>>>>
>>>> ap.CFLAGS += -DRADIO_CONTROL
>>>> ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
>>>>
>>>> #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
>>>> -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
>>>> #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
>>>>
>>>> #Serial Modem
>>>> ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
>>>> -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
>>>> -DDATALINK=PPRZ -DUART1_BAUD=B57600
>>>> ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
>>>>
>>>>
>>>> ap.CFLAGS += -DINTER_MCU
>>>> ap.srcs += inter_mcu.c
>>>>
>>>> ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
>>>> ap.srcs += $(SRC_ARCH)/adc_hw.c
>>>>
>>>> ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B9600
>>>> -DGPS_LED=2 -DGPS_USE_LATLONG
>>>> ap.srcs += gps_ubx.c gps.c latlong.c
>>>>
>>>> ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
>>>> ap.srcs += infrared.c estimator.c
>>>>
>>>> ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
>>>> ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
>>>>
>>>> ap.srcs += nav_line.c
>>>> ap.srcs += nav_survey_rectangle.c
>>>>
>>>> ap.srcs += humid_sht.c
>>>> ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
>>>>
>>>> ap.srcs += baro_scp.c
>>>> ap.CFLAGS += -DUSE_BARO_SCP
>>>>
>>>> ap.srcs += joystick.c
>>>> ap.CFLAGS += -DUSE_JOYSTICK
>>>>
>>>> # Config for SITL simulation
>>>> include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
>>>> sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
>>>> -DALT_KALMAN
>>>> sim.srcs += nav_line.c nav_survey_rectangle.c
>>>>
>>>> sim.srcs += joystick.c
>>>> sim.CFLAGS += -DUSE_JOYSTICK
>>>>
>>>>
>>>> Thanks.
>>>>
>>>> Eddie.
>>>>
>>>>> Date: Sat, 7 Aug 2010 13:10:35 +0200
>>>>> Subject: Re: [Paparazzi-devel] I get a blank GCS when executing
> airframe
>>>>> From: address@hidden
>>>>> To: address@hidden
>>>>>
>>>>> Hi Eddie,
>>>>>
>>>>> the GCS stays blank until you get telemetry messages.
>>>>> So first you need to get your telemetry working. Check your cables,
>>>>> settings and baudrates on the xbees as well as in the airframe file.
>>>>> Also make sure you have the paparazzi udev rules copied and your
>>>>> ground modem is recognized by your PC.
>>>>>
>>>>> Cheers, Felix
>>>>>
>>>>> On Sat, Aug 7, 2010 at 7:44 AM, Edixon Giraldo
> <address@hidden>
>>>>> wrote:
>>>>>> Hi, I have not been able to execute my airframe on the GCS.  I have
> been
>>>>>> able to download the program to the TWOG and everything seems fine,
> but,
>>>>>> when I connect the FTDI cable, build, and execute my A/C, the GCS is
>>>>>> just
>>>>>> blank.  Just the black screen with no telemetry on it.  I have not
> been
>>>>>> able
>>>>>> to use U-center either to configure my GPS or at least to verify is
>>>>>> working
>>>>>> and receiving a signal.  Can someone please help?
>>>>>>
>>>>>> Thanks.
>>>>>>
>>>>>> Eddie.
>>>>>>
>>>>>> _______________________________________________
>>>>>> Paparazzi-devel mailing list
>>>>>> address@hidden
>>>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>>
>>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> Paparazzi-devel mailing list
>>>>> address@hidden
>>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>
>>>> _______________________________________________
>>>> Paparazzi-devel mailing list
>>>> address@hidden
>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>
>>>>
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>
>
>
> ------------------------------
>
> Message: 3
> Date: Mon, 9 Aug 2010 09:28:11 -0500
> From: Edixon Giraldo <address@hidden>
> Subject: [Paparazzi-devel] Xbee pro modules won't communicate
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain;       charset=us-ascii
>
> Hi, I have been working with this for hours and cannot make the xbee modules
> to communicate with each other. I am very new at this, therefore, I am not
> very familiar on bow to set them up to make one the coordinator and the
> other one the server. Any ideas on how to do this in XTCU? I did find some
> instructions on how to do this, but, it was not clear to me. It seems that
> you have to type some commands on a terminal. I have also been trying to run
> range tests and all, but, it is not successful.
> Any help will be greatly appreciated.
>
> Thanks.
>
> Eddie.
>
> Sent from my iPhone
>
>
> ------------------------------
>
> Message: 4
> Date: Mon, 9 Aug 2010 16:43:21 +0200
> From: maq <address@hidden>
> Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain; charset=US-ASCII; format=flowed; delsp=yes
>
> Did you already check out this guide? I used it successfully a few
> weeks ago.
>
> http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee
>
>
> Am 09.08.2010 um 16:28 schrieb Edixon Giraldo:
>
>> Hi, I have been working with this for hours and cannot make the xbee
>> modules to communicate with each other. I am very new at this,
>> therefore, I am not very familiar on bow to set them up to make one
>> the coordinator and the other one the server. Any ideas on how to do
>> this in XTCU? I did find some instructions on how to do this, but,
>> it was not clear to me. It seems that you have to type some commands
>> on a terminal. I have also been trying to run range tests and all,
>> but, it is not successful.
>> Any help will be greatly appreciated.
>>
>> Thanks.
>>
>> Eddie.
>>
>> Sent from my iPhone
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
>
> ------------------------------
>
> Message: 5
> Date: Mon, 9 Aug 2010 09:48:30 -0500
> From: Edixon Giraldo <address@hidden>
> Subject: [Paparazzi-devel] PPM board set up and radio communication
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain;       charset=us-ascii
>
> Hi, I am using a ppm board with my TWOG board. I have already hooked it up
> to the receiver and the board, but, I don't have control of the servos with
> my radio. I have a Spektrum
>
> Sent from my iPhone
>
>
> ------------------------------
>
> Message: 6
> Date: Mon, 9 Aug 2010 09:55:26 -0500
> From: Edixon Giraldo <address@hidden>
> Subject: [Paparazzi-devel] PPM board set up and radio communication
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain;       charset=us-ascii
>
>
>>
>
>> Hi, I am using a ppm board with my TWOG board. I have already hooked it up
> to the receiver and the board, but, I don't have control of the servos with
> my radio. I have a  Spektrum dx7. I was not sure on how to wire this up
> either. The ppm manual shows a totally different ppm board. The one I have
> seems to only have 6 channels and they are not marked as such. It only has 6
> connections for signal wires and 4 more connections that are marked -, +, Tx
> and Rx. My question also has to do with how to connect the wires.
>
> Thanks
>
> Eddie.
>>
>> Sent from my iPhone
>
>
>
>
> ------------------------------
>
> Message: 7
> Date: Mon, 9 Aug 2010 16:59:18 +0200
> From: Felix Ruess <address@hidden>
> Subject: Re: [Paparazzi-devel] Xbee pro modules won't communicate
> To: address@hidden
> Message-ID:
>        <address@hidden>
> Content-Type: text/plain; charset=UTF-8
>
> Hi,
>
> the configuration (coordinator needed or not) you need depends on
> which version exactly you have.
>
> Basically two different hardware/software stacks:
> Digi XBee Pro 802.15.4 and Digi XBee Pro ZB
>
> See http://paparazzi.enac.fr/wiki/Modems for that also
>
> Cheers, Felix
>
> On Mon, Aug 9, 2010 at 4:43 PM, maq <address@hidden> wrote:
>> Did you already check out this guide? I used it successfully a few weeks
>> ago.
>>
>> http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee
>>
>>
>> Am 09.08.2010 um 16:28 schrieb Edixon Giraldo:
>>
>>> Hi, I have been working with this for hours and cannot make the xbee
>>> modules to communicate with each other. I am very new at this, therefore,
> I
>>> am not very familiar on bow to set them up to make one the coordinator
> and
>>> the other one the server. Any ideas on how to do this in XTCU? I did find
>>> some instructions on how to do this, but, it was not clear to me. It
> seems
>>> that you have to type some commands on a terminal. I have also been
> trying
>>> to run range tests and all, but, it is not successful.
>>> Any help will be greatly appreciated.
>>>
>>> Thanks.
>>>
>>> Eddie.
>>>
>>> Sent from my iPhone
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>
>
>
> ------------------------------
>
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>
> End of Paparazzi-devel Digest, Vol 77, Issue 9
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