[Paparazzi-devel] Re: Eagle tree Speed sensor (Felix Ruess)

[Christian Behrens]

Hi Felix,
we updated the modules and now  get the follwing:
-------------------------------------------------------------
main_ap.c: In function `reporting_task':
main_ap.c:210: Fehler: `adc_airspeed_val' undeclared (first use in this
function)
main_ap.c:210: Fehler: (Each undeclared identifier is reported only once
main_ap.c:210: Fehler: for each function it appears in.)
make[1]: ***
[/home/paparazzi/paparazzi3/var/Twinstar_2_B/ap/./main_ap.o] Fehler 1
make[1]: Verlasse Verzeichnis '/home/paparazzi/paparazzi3/sw/airborne'
make: *** [ap.compile] Fehler 2
make: Verlasse Verzeichnis '/home/paparazzi/paparazzi3'

DONE (exec make -C /home/paparazzi/paparazzi3 -f Makefile.ac
AIRCRAFT=Twinstar_2_B ap.compile  2>&1)
---------------------------------------------------------------

what we put in our  airframe File:
---------------------------------------------------------------
 <firmware name="fixedwing">
    <target name="ap"                   board="tiny_2.11">
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/>
      <define name="AGR_CLIMB"/>
      <define name="WIND_INFO"/>
      <define name="USE_I2C0"/>
    </target>

    <target name="sim"                  board="pc">
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/>
      <define name="AGR_CLIMB"/>
      <define name="WIND_INFO"/>
    </target>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="xbee_api">
      <param name="MODEM_BAUD"      value="B57600"/>
    </subsystem>
    <subsystem name="control"/>
    <subsystem name="attitude"      type="infrared"/>
    <subsystem name="gps"           type="ublox_lea5h"/>
    <subsystem name="navigation"    type="extra"/>
    <subsystem name="i2c"/>
<!--this includes OSAMNav, nav, discsurvey and nav_cube as well-->
  </firmware>

 <modules>
    <load name="baro_scp.xml"/>
    <load name="airspeed_ets.xml"/>
 </modules>

----------------------------------------------------------------
greets

Christian


Am Dienstag, den 26.10.2010, 12:00 -0400 schrieb
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> Today's Topics:
> 
>    1. Eagle tree Speed sensor (Christian Behrens)
>    2. Re: Eagle tree Speed sensor (Felix Ruess)
>    3. motor current calculation ? (Chris)
>    4. Re: motor current calculation ? (Reto B?ttner)
>    5. Re: Eagle tree Speed sensor (Felix Ruess)
>    6. updated udev rules (Felix Ruess)
> 
> 
> ----------------------------------------------------------------------
> 
> Message: 1
> Date: Tue, 26 Oct 2010 11:31:40 +0200
> From: Christian Behrens <address@hidden>
> Subject: [Paparazzi-devel] Eagle tree Speed sensor
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain; charset="UTF-8"
> 
> Hi Guys,
> we want to use the eagle tree sensors for speed and altitude.
> We used the modules from paparazi. 
> We can receive Data from the modules, but when the plane is not moving
> it sends about 20 m/s. If we slightly blow into the module there is no
> change in the values.
> Did we miss some Details??
> Our plane works great, since yesterday, thanks to all who helped us in
> the past and the whole comunity.
> 
> Thanks a lot again
> 
> 
> Christian
> 
> 
> 
> 
> 
> ------------------------------
> 
> Message: 2
> Date: Tue, 26 Oct 2010 11:34:56 +0200
> From: Felix Ruess <address@hidden>
> Subject: Re: [Paparazzi-devel] Eagle tree Speed sensor
> To: address@hidden
> Message-ID:
>       <address@hidden>
> Content-Type: text/plain; charset=UTF-8
> 
> Hi Christian,
> 
> can you please post your airframe file?
> We will need your help on this one since we don't have any ETS sensors
> to test with.
> 
> Cheers, Felix
> 
> On Tue, Oct 26, 2010 at 11:31 AM, Christian Behrens
> <address@hidden> wrote:
> > Hi Guys,
> > we want to use the eagle tree sensors for speed and altitude.
> > We used the modules from paparazi.
> > We can receive Data from the modules, but when the plane is not moving
> > it sends about 20 m/s. If we slightly blow into the module there is no
> > change in the values.
> > Did we miss some Details??
> > Our plane works great, since yesterday, thanks to all who helped us in
> > the past and the whole comunity.
> >
> > Thanks a lot again
> >
> >
> > Christian
> >
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> 
> 
> 
> ------------------------------
> 
> Message: 3
> Date: Tue, 26 Oct 2010 14:01:40 +0300
> From: Chris <address@hidden>
> Subject: [Paparazzi-devel] motor current calculation ?
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
> 
> Hi.
> I was watching my plane's current draw at various throttle levels  and 
> it looks like the calculation is a bit off.
> When the throttle is at 50% the current draw is ~25% of the:
> <define name="MILLIAMP_AT_FULL_THROTTLE" value="40000"/>
> It is logical since at 50% rpm the propeller only produces 25% of it's 
> full rpm power.
> Here is what i used instead in main_fbw.c file (broken down for clarity):
> #if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE)
> #ifdef COMMAND_THROTTLE
>      float percent_throttle = 
> (float)commands[COMMAND_THROTTLE]/(float)MAX_PPRZ;
>      percent_throttle *= percent_throttle;
>      fbw_current_milliamp = Min((percent_throttle * 
> (float)MILLIAMP_AT_FULL_THROTTLE), 65000);
> //    fbw_current_milliamp = Min(((float)commands[COMMAND_THROTTLE]) * 
> ((float)MILLIAMP_AT_FULL_THROTTLE) / ((float)MAX_PPRZ), 65000);
> #endif
> #   endif
> 
> Is this correct or i am doing something wrong?
> 
> 
> 
> 
> ------------------------------
> 
> Message: 4
> Date: Tue, 26 Oct 2010 13:28:11 +0200
> From: Reto B?ttner <address@hidden>
> Subject: Re: [Paparazzi-devel] motor current calculation ?
> To: address@hidden
> Message-ID:
>       <address@hidden>
> Content-Type: text/plain; charset=ISO-8859-1
> 
> Hi Chris,
> 
> as you mention correctely the current is very non-linear in respect to
> the throttle. In paparazzi this is simpified and approximated using a
> linear function. The energy estimate works pretty well if it is tuned
> to a certain working point and you have similar flight patterns.
> 
> If you need a more precise current estimate that works on various
> working points I recommend to use a superellipse instead of a linear
> function. See: http://en.wikipedia.org/wiki/Superellipse
> 
> I cannot give you code for this, as I have not implemented it yet myself.
> 
> Good luck,
> Reto
> 
> 2010/10/26 Chris <address@hidden>:
> > Hi.
> > I was watching my plane's current draw at various throttle levels and it
> > looks like the calculation is a bit off.
> > When the throttle is at 50% the current draw is ~25% of the:
> > <define name="MILLIAMP_AT_FULL_THROTTLE" value="40000"/>
> > It is logical since at 50% rpm the propeller only produces 25% of it's full
> > rpm power.
> > Here is what i used instead in main_fbw.c file (broken down for clarity):
> > #if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE)
> > #ifdef COMMAND_THROTTLE
> >  float percent_throttle =
> > (float)commands[COMMAND_THROTTLE]/(float)MAX_PPRZ;
> >  percent_throttle *= percent_throttle;
> >  fbw_current_milliamp = Min((percent_throttle *
> > (float)MILLIAMP_AT_FULL_THROTTLE), 65000);
> > //  fbw_current_milliamp = Min(((float)commands[COMMAND_THROTTLE]) *
> > ((float)MILLIAMP_AT_FULL_THROTTLE) / ((float)MAX_PPRZ), 65000);
> > #endif
> > #  endif
> >
> > Is this correct or i am doing something wrong?
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> 
> 
> 
> ------------------------------
> 
> Message: 5
> Date: Tue, 26 Oct 2010 13:36:51 +0200
> From: Felix Ruess <address@hidden>
> Subject: Re: [Paparazzi-devel] Eagle tree Speed sensor
> To: address@hidden
> Message-ID:
>       <address@hidden>
> Content-Type: text/plain; charset=UTF-8
> 
> Hi Christian,
> 
> I just committed some fixes for the ETS modules, please update from
> SVN and let me know if it works.
> The wiki page http://paparazzi.enac.fr/wiki/Airspeed_sensor is also
> updated to reflect the current situation.
> 
> Cheers, Felix
> 
> On Tue, Oct 26, 2010 at 11:34 AM, Felix Ruess <address@hidden> wrote:
> > Hi Christian,
> >
> > can you please post your airframe file?
> > We will need your help on this one since we don't have any ETS sensors
> > to test with.
> >
> > Cheers, Felix
> >
> > On Tue, Oct 26, 2010 at 11:31 AM, Christian Behrens
> > <address@hidden> wrote:
> >> Hi Guys,
> >> we want to use the eagle tree sensors for speed and altitude.
> >> We used the modules from paparazi.
> >> We can receive Data from the modules, but when the plane is not moving
> >> it sends about 20 m/s. If we slightly blow into the module there is no
> >> change in the values.
> >> Did we miss some Details??
> >> Our plane works great, since yesterday, thanks to all who helped us in
> >> the past and the whole comunity.
> >>
> >> Thanks a lot again
> >>
> >>
> >> Christian
> >>
> >>
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >> address@hidden
> >> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >>
> >
> 
> 
> 
> ------------------------------
> 
> Message: 6
> Date: Tue, 26 Oct 2010 15:55:45 +0200
> From: Felix Ruess <address@hidden>
> Subject: [Paparazzi-devel] updated udev rules
> To: Paparazzi devel list <address@hidden>
> Message-ID:
>       <address@hidden>
> Content-Type: text/plain; charset=UTF-8
> 
> Hi all,
> 
> I just updated the udev rules again since the symlinks for the FTDI
> serial adapters (and the xbees) were not set. The rules were not
> matching because we skipped to the end if it was not a usb device.
> 
> If you want your own xbee to be recognized (and symlinked to
> /dev/paparazzi/xbee) you can uncomment the respective line and fill in
> your specific serial. To find out your serial run
>   devadm info -q all -p /sys/class/tty/ttyUSB0 --attribute-walk | grep serial
> In my case it is ATTRS{serial}=="A80081ej"
> 
> If the ftdi adapter added does not match the serial number then it
> will be symlinked to /dev/paparazzi/serial.
> 
> So please update these rules and let us know if there are some more problems.
> 
> Cheers, Felix
> 
> 
> 
> ------------------------------
> 
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> 
> 
> End of Paparazzi-devel Digest, Vol 79, Issue 26
> ***********************************************