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

[address@hidden]

Hello Christian,

To get rid of the altitude oscillations you might have a look at step 3 of the 
following guide:

http://www.engr.usu.edu/wiki/index.php/OSAMtuning(Contains other usefull hints 
for tuning)

The variables 
ALTITIUDE_PGAIN and PITCH_PGAIN are what I would take a look at.
>From what I understand they are used in the sw PID 
controller to compute the corrections for errors in the predetermined pitch and 
altitude values.
(Someone who fully 
understands the code, please correct if wrong ;) )
 
"The PITCH_PGAIN value is expressed in negative terms so a -10,000 
would “higher” than a -6000 variable. "
(From the OSAMguide)

Hope it helps,

Regards

Nico

----Ursprüngliche 
Nachricht----
Von: address@hidden
Datum: 10.08.2010 16:36
An: <address@hidden>
Betreff: 
[Paparazzi-devel] Gain parameters/kill Mode/Communications

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: paparazzi-devel-
address@hidden
[mailto:paparazzi-devel-bounces+christian.behrens=uni-tuebingen.
address@hidden
g] Im Auftrag von address@hidden
Gesendet: Montag, 9. August 2010 16:59
An: paparazzi-
address@hidden
Betreff: Paparazzi-devel Digest, Vol 77, Issue 9

Send Paparazzi-devel mailing list submissions to
        
address@hidden

To subscribe or unsubscribe via the World Wide Web, visit
        http://lists.nongnu.org/mailman/listinfo/paparazzi-develor, via email, 
send a message with subject or body 'help' to
        
address@hidden

You can reach the person managing the list at
        address@hidden


When replying, please edit your Subject line so it is more specific
than "Re: Contents of Paparazzi-devel digest..."



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_and_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: paparazzi-
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
com>
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/Modemsfor 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
>> Paparazzi-
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

End of Paparazzi-devel Digest, Vol 77, Issue 9

**********************************************


_______________________________________________
Paparazzi-devel 
mailing list
address@hidden
http://lists.nongnu.org/mailman/listinfo/paparazzi-devel