Re: [Paparazzi-devel] Using Paparazzi board as failsafe

[Nathan Aherne]

I have also noticed that servo_switch.h contains this:

#ifndef SERVO_SWITCH_ON_VALUE
#define SERVO_SWITCH_ON_VALUE 2000
#endif
#ifndef SERVO_SWITCH_OFF_VALUE
#define SERVO_SWITCH_OFF_VALUE 1000

This seems to be opposite of what I have set in the airframe file, is this by 
design?

Kindest regards,
 
Nathan Aherne
Email: address@hidden
Mob: 0402 555 080

On 26/09/2010, at 1:30 PM, Nathan Aherne wrote:

> Ok so I have worked out the battery issue (forgot "make" in my haste to get 
> it working).
> 
> I am getting an issue with servo_switch:
> 
> modules/servo_switch/servo_switch.c: In function ‘servo_switch_periodic’:
> modules/servo_switch/servo_switch.c:37: warning: implicit declaration of 
> function ‘SetServo’
> modules/servo_switch/servo_switch.c:37: error: ‘SERVO_SWITCH’ undeclared
> 
> I tried calling both functions from the flight plan but both produce the 
> issue.
> 
>>>  <call fun="ServoSwitchOn()"/>
>>> or
>>>  <call fun="ServoSwitchOff()"/>
> 
> I copy pasted the implementation you recommended. I cannot see how 
> SERVO_SWITCH could be undeclared.
> 
> Kindest regards,
> 
> Nathan Aherne
> Email: address@hidden
> Mob: 0402 555 080
> 
> On 25/09/2010, at 11:02 PM, Felix Ruess wrote:
> 
>> you might also want to take a look at the EMAV2009.xml flight plan
>> (which includes EMAV2009_safety.xml as a procedure)....
>> 
>> On Sat, Sep 25, 2010 at 2:57 PM, Felix Ruess <address@hidden> wrote:
>>> Hi Nathan,
>>> 
>>> I just updated the servo_switch module a bit. I can't test it at the
>>> moment, but it *should* work as advertised ;-)
>>> 
>>> Have a look at the mentor_tum.xml airframe... there it is used.
>>> 
>>> Now you only have to declare a servo in your airframe.xml that you
>>> want to use. Previously you had to set up commands, command laws as
>>> well.
>>> 
>>> By default the servo_switch module looks for a servo called SWITCH.
>>> The switch on value is 2000us and switch off is 1000us by default.
>>> If you want to use a different servo/values you can set that in the
>>> modules section, e.g. for a servo named KILL:
>>> <load name="servo_switch.xml">
>>>     <param name="SERVO_SWITCH_ON_VALUE"  value="1100"/>
>>>     <param name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
>>>     <param name="SERVO_SWITCH_SERVO"     value="SERVO_KILL"/>
>>> </load>
>>> 
>>> In your flight plan you just call the makro defined in servo_switch.h
>>>  <call fun="ServoSwitchOn()"/>
>>> or
>>>  <call fun="ServoSwitchOff()"/>
>>> respectively.
>>> 
>>> Cheers, Felix
>>> 
>>> On Sat, Sep 25, 2010 at 8:51 AM, Nathan Aherne <address@hidden> wrote:
>>>> Hi All,
>>>> 
>>>> I have updated my paparazzi code and found the servo switch module, this 
>>>> should work fine fore me. What I would like to know is how to use this 
>>>> module (how to call servo_switch from within the flight plan) and set the 
>>>> servo to either min or max. Also how do I declare which servo output to 
>>>> use?
>>>> 
>>>> Kindest regards,
>>>> 
>>>> Nathan Aherne
>>>> Email: address@hidden
>>>> Mob: 0402 555 080
>>>> 
>>>> On 25/09/2010, at 3:37 PM, Nathan Aherne wrote:
>>>> 
>>>>> These are the relevant part of my flight plan in regards to the failsafe 
>>>>> action. The rest is just some of the competition waypoints.
>>>>> 
>>>>> You will see I have implemented the Holdingpoint block so that the Kill 
>>>>> block is not run. I would like to understand if there is an easier way to 
>>>>> implement this crash failsafe than this, and output to a servo 1000ms or 
>>>>> 2000ms. Thanks for your help in advance!
>>>>> 
>>>>>   <sector color="red" name="MissionBoundary">
>>>>>     <corner name="MB1"/>
>>>>>     <corner name="MB2"/>
>>>>>     <corner name="MB3"/>
>>>>>     <corner name="MB4"/>
>>>>>     <corner name="MB5"/>
>>>>>     <corner name="MB6"/>
>>>>>     <corner name="MB7"/>
>>>>>     <corner name="MB8"/>
>>>>>     <corner name="MB9"/>
>>>>>     <corner name="MB10"/>
>>>>>     <corner name="MB11"/>
>>>>>   </sector>
>>>>> </sectors>
>>>>> <exceptions>
>>>>>     <exception cond="! InsideMissionBoundary(estimator_x, estimator_y)" 
>>>>> deroute="Kill"/>
>>>>> </exceptions>
>>>>> <blocks>
>>>>> <!-- FLIGHT PLAN -->
>>>>>   <block name="Wait GPS">
>>>>>     <set value="1" var="kill_throttle"/>
>>>>>     <while cond="!GpsFixValid()"/>
>>>>>   </block>
>>>>>   <block name="Geo init">
>>>>>     <while cond="LessThan(NavBlockTime(), 10)"/>
>>>>>     <call fun="NavSetGroundReferenceHere()"/>
>>>>>     <set value="0" var="estimator_flight_time"/>
>>>>>   </block>
>>>>>   <block name="Holding point">
>>>>>     <call fun="NavSetWaypointHere(WP_STPT)"/>
>>>>>     <set value="1" var="kill_throttle"/>
>>>>>     <attitude roll="0" throttle="0" vmode="throttle"/>
>>>>>   </block>
>>>>>   <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
>>>>>     <go wp="CRASH" vmode="throttle" pitch="kill_pitch"/>
>>>>>   </block>
>>>>> 
>>>>> Kindest regards,
>>>>> 
>>>>> Nathan Aherne
>>>>> Email: address@hidden
>>>>> Mob: 0402 555 080
>>>>> 
>>>>> On 25/09/2010, at 2:58 PM, Nathan Aherne wrote:
>>>>> 
>>>>>> We would like to use the Paparazzi as a failsafe in this years outback 
>>>>>> challenge, plus use its other features to control and report back 
>>>>>> certain tests and conditions. We are using the paparazzi for this 
>>>>>> because it supplies so much more data than our commercial autopilot.
>>>>>> 
>>>>>> The failsafe part just needs to output 2000ms or 1000ms on a servo 
>>>>>> output if the aircraft goes over the mission boundary. I have already 
>>>>>> built some code, but it seems there must be a simpler way to get the 
>>>>>> autpilot to do this, could someone help me out with this one please? 
>>>>>> Some sample code would be great and possibily an explanation of what I 
>>>>>> need to initialise.
>>>>>> 
>>>>>> I am only wanting to run the GPS, Xbee and TWOG if possible.
>>>>>> 
>>>>>> Thanks in advance!
>>>>>> 
>>>>>> Kindest regards,
>>>>>> 
>>>>>> Nathan Aherne
>>>>>> Email: address@hidden
>>>>>> Mob: 0402 555 080
>>>>>> 
>>>>>> 
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>>>>> 
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