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

[Nathan Aherne]

Forgot to say the error I was getting:

CC 
/home/nathanaherne/paparazzi3/var/Hopper/sim/modules/servo_switch/servo_switch.o
modules/servo_switch/servo_switch.c: In function ‘servo_switch_periodic’:
modules/servo_switch/servo_switch.c:37: warning: i

This is all that comes out now.

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

On 26/09/2010, at 8:43 PM, Nathan Aherne wrote:

> Hi Felix,
> 
> I have done what you have said, I checked you guide at least 10 times to make 
> sure I didn't miss anything. See my airframe file below:
> 
> <airframe name="Island Hopper TWOG 1">
> 
>  <modules main_freq="60">
>    <load name="servo_switch.xml">
>      <param name="SERVO_SWITCH_ON_VALUE"  value="1000"/>
>      <param name="SERVO_SWITCH_OFF_VALUE" value="2000"/>
>      <param name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
>    </load>
>  </modules>
> 
>  <servos>
>    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
>    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
>    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
>    <servo name="SWITCH"       no="7" min="1000" neutral="1500" max="2000"/>
>  </servos>
> 
> This is how I call the function
>   <block key="c" name="KILL" strip_button="KILL" strip_icon="kill.png">
>      <call fun="ServoSwitchOn()"/>
>    </block>
> 
> 
> 
> 
> 
> Kindest regards,
> 
> Nathan Aherne
> Email: address@hidden
> Mob: 0402 555 080
> 
> On 26/09/2010, at 8:04 PM, Felix Ruess wrote:
> 
>> Hi Nathan,
>> 
>> By default the servo_switch module looks for a servo called SWITCH.
>> So you have to either define a servo named SWITCH or set a different
>> servo like I indicated before.
>> e.g. in my airframe file I have:
>> <servos>
>>   ....
>>   <servo name="SWITCH" no="7" min="1000" neutral="1500" max="2000"/>
>> </servos>
>> 
>> 
>> 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>
>> 
>> Of course you only have to set these parameters here If you do not
>> want to use the DEFAULT servo (SWITCH) or the default on/off values.
>> <load name="servo_switch.xml"/>
>> 
>> In my airframe I use a switch which expects the on signal to be
>> reversed (on is short, off is long) and it was just an example of how
>> to override the default switch values.
>> 
>> Cheers, Felix
>> 
>> On Sun, Sep 26, 2010 at 7:30 AM, Nathan Aherne <address@hidden> wrote:
>>> 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
>>>>>>>>> 
>>>>>>>>> 
>>>>>>>>> _______________________________________________
>>>>>>>>> Paparazzi-devel mailing list
>>>>>>>>> address@hidden
>>>>>>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>>>>>> 
>>>>>>>> 
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