>Hi Marvin,
>
>what branch are you using? v3.9?
>With some setups the mag sometimes only updates once at startup. Seems to
>be an I2C driver issue that is probably fixed with the new driver (in
>master).
>You can also test the new driver in v3.9 by adding <configure
>name="USE_NEW_I2C_DRIVER"/> to your firmware.
>
>Baro should be read just fine, although for fixedwings the onboard baro is
>currently not used to update the altitude kalman filter.... Eduardo said he
>had a patch?
>
>Cheers, Felix
>
>On Mon, Jun 4, 2012 at 11:08 AM, Marvin Wang <
address@hidden> wrote:
>
>> hi all
>>
>> Is lisa/m 2.0 now support the baro and the magnetometer on board?
>>
>> i cant use them both, i have look up the message cant find the baro
>> datalink,the mag value is constant, what should i add to the ariframe? i
>> checked the wiki everywhere cant find the answer, so please help me with
>> this.
>>
>> my airframe.xml:
>>
>> !DOCTYPE airframe SYSTEM "airframe.dtd">
>>
>> <airframe name="Sky Surfer 1.4m with Lisa/M 2.0">
>>
>> <firmware name="fixedwing">
>>
>> <target name="sim" board="pc">
>>
>> <define name="LOITER_TRIM"/>
>>
>> <define name="ALT_KALMAN"/>
>>
>> <define name="AGR_CLIMB"/>
>>
>> </target>
>>
>> <target name="ap" board="lisa_m_2.0">
>>
>> <define name="LOITER_TRIM"/>
>>
>> <define name="ALT_KALMAN"/>
>>
>> <define name="AGR_CLIMB"/>
>>
>> </target>
>>
>> <subsystem name="imu" type="aspirin_v2.1"/>
>>
>> <subsystem name="ahrs" type="int_cmpl_quat">
>>
>> <!-- ******** AHRS_MAG_UPDATE_YAW_ONLY is defult set ********
>>
>> <define name="AHRS_MAG_UPDATE_YAW_ONLY"/> -->
>>
>> <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/>
>>
>> </subsystem>
>>
>> <subsystem name="radio_control" type="ppm"/>
>>
>> <subsystem name="telemetry" type="transparent">
>>
>> <configure name="MODEM_BAUD" value="B57600"/>
>>
>> </subsystem>
>>
>> <subsystem name="gps" type="ublox">
>>
>> <configure name="GPS_BAUD" value="B38400"/>
>>
>> </subsystem>
>>
>> <subsystem name="control"/>
>>
>> <subsystem name="navigation"/>
>>
>> </firmware>
>>
>> <firmware name="setup">
>>
>> <target name="tunnel" board="lisa_m_2.0" />
>>
>> <target name="setup_actuators" board="lisa_m_2.0" />
>>
>> </firmware>
>>
>> <modules>
>>
>> <load name="gps_ubx_ucenter.xml"/>
>>
>> </modules>
>>
>> <section name="AHRS" prefix="AHRS_">
>>
>> <define name="H_X" value="0.834910303443909"/>
>>
>> <define name="H_Y" value="-0.0488381297153481"/>
>>
>> <define name="H_Z" value="0.548214941687206"/>
>>
>> <!--
>>
>> above data calcultated by
>>
www.ngdc.noaa.gov/geomagmodels/struts/calcIGRFWMM
>> , model = Tainan Taiwan, iaa building IGRF11, date: 2012,may,22th
>>
>> -->
>>
>> </section>
>>
>> <!-- commands section -->
>>
>> <!-- ppm input process chain:
>>
>>
>> radio.xml -> decode according to radio.xml -> commands-> rc_command + command_law -->
>>
>> <commands>
>>
>> <axis name="ROLL" failsafe_value="0"/>
>>
>> <axis name="THROTTLE" failsafe_value="0"/>
>>
>> <axis name="PITCH" failsafe_value="0"/>
>>
>> <axis name="YAW" failsafe_value="0"/>
>>
>> </commands>
>>
>> <rc_commands>
>>
>> <set command="ROLL" value="@ROLL"/>
>>
>> <set command="THROTTLE" value="@THROTTLE"/>
>>
>> <set command="PITCH" value="@PITCH"/>
>>
>> <set command="YAW" value="@YAW"/>
>>
>> </rc_commands>
>>
>> <servos>
>>
>>
>> <servo name="AILERON" no="0" min="1948" neutral="1536" max="1108"/>
>>
>>
>> <servo name="THROTTLE" no="1" min="1100" neutral="1100" max="1942"/>
>>
>>
>> <servo name="ELEVATOR" no="2" min="1940" neutral="1520" max="1074"/>
>>
>>
>> <servo name="RUDDER" no="3" min="1844" neutral="1428" max="1004"/>
>>
>> </servos>
>>
>> <command_laws>
>>
>> <set servo="THROTTLE" value="@THROTTLE"/>
>>
>> <set servo="RUDDER" value="@YAW"/>
>>
>> <set servo="ELEVATOR" value="@PITCH"/>
>>
>> <set servo="AILERON" value="@ROLL"/>
>>
>> </command_laws>
>>
>> <auto_rc_commands>
>>
>> <!-- enable rudder in AUTO1 mode-->
>>
>> <set command="YAW" value="@YAW"/>
>>
>> </auto_rc_commands>
>>
>> <!-- End command section -->
>>
>> <section name="AUTO1" prefix="AUTO1_">
>>
>> <define name="MAX_ROLL" value="RadOfDeg(50)"/>
>>
>> <define name="MAX_PITCH" value="RadOfDeg(30)"/>
>>
>> </section>
>>
>> <section name="IMU" prefix="IMU_">
>>
>>
>> <!-- gyrosens, accelemeter neutral and sens undefined here means use default value defined in imu_aspirinv2.0.h
>>
>>
>> /paparazzi/sw/airbone/subsystems/imu/ -->
>>
>>
>> <!-- mag sensor values are found by calibrate.py scrip, 2012/05/22 NCKU_iaa_building, Tainan, Taiwan-->
>>
>> <define name="GYRO_P_NEUTRAL" value="-6"/>
>>
>> <define name="GYRO_Q_NEUTRAL" value="-3"/>
>>
>> <define name="GYRO_R_NEUTRAL" value="8"/>
>>
>>
>>
>> <define name="MAG_X_NEUTRAL" value="-961"/>
>>
>> <define name="MAG_Y_NEUTRAL" value="-115"/>
>>
>> <define name="MAG_Z_NEUTRAL" value="20"/>
>>
>> <define name="MAG_X_SENS" value="4.45045690083" integer="16"/>
>>
>> <define name="MAG_Y_SENS" value="4.3861081417" integer="16"/>
>>
>> <define name="MAG_Z_SENS" value="4.64145389502" integer="16"/>
>>
>> <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.0)"/>
>>
>> <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.0)"/>
>>
>> <define name="BODY_TO_IMU_PSI" value="RadOfDeg(90.0)"/>
>>
>> </section>
>>
>> <section name="BAT">
>>
>> <!-- checked-->
>>
>> <define name="MILLIAMP_AT_FULL_THROTTLE" value="35000" unit="mA"/>
>>
>> <define name="CATASTROPHIC_BAT_LEVEL" value="10.8" unit="V"/>
>>
>> <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
>>
>> <define name="LOW_BAT_LEVEL" value="11.4" unit="V"/>
>>
>> <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
>>
>>
>> <!-- adc factor in sw/airbone/boards/lisa_m_2.0.h has been changed into 0.00455(defult 0.00485) -->
>>
>> </section>
>>
>> <section name="MISC">
>>
>> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
>>
>> <define name="CARROT" value="5." unit="s"/>
>>
>> <define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME"/>
>>
>> <define name="CONTROL_RATE" value="60" unit="Hz"/>
>>
>> <define name="NAV_RADIUS" value="30"unit="m"/>
>>
>> <define name="NO_XBEE_API_INIT" value="TRUE"/>
>>
>> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
>>
>> <define name="TRIGGER_DELAY" value="1."/>
>>
>> <define name="DEFAULT_CIRCLE_RADIUS" value="20."/>
>>
>> </section>
>>
>> <section name="VERTICAL CONTROL" prefix="V_CTL_">
>>
>> <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
>>
>> <!-- outer loop -->
>>
>> <define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
>>
>> <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
>>
>> <!-- auto throttle inner loop -->
>>
>>
>> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
>>
>> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
>>
>> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
>>
>> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
>>
>> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
>>
>>
>> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
>>
>> <define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
>>
>> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
>>
>>
>> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
>>
>> <!-- auto pitch inner loop-->
>>
>> <define name="AUTO_PITCH_PGAIN" value="0.125"/>
>>
>> <define name="AUTO_PITCH_IGAIN" value="0.025"/>
>>
>> <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
>>
>> <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
>>
>> <define name="THROTTLE_SLEW" value="1.0"/>
>>
>> </section>
>>
>> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
>>
>> <define name="COURSE_PGAIN" value="0.7"/>
>>
>> <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
>>
>> <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
>>
>> <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
>>
>> <define name="PITCH_PGAIN" value="20000."/>
>>
>> <define name="PITCH_DGAIN" value="1.5"/>
>>
>> <define name="ELEVATOR_OF_ROLL" value="2500"/>
>>
>> <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
>>
>> <define name="ROLL_RATE_GAIN" value="200"/>
>>
>> </section>
>>
>> <section name="NAV">
>>
>> <define name="NAV_PITCH" value="0."/>
>>
>> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
>>
>> </section>
>>
>> <section name="AGGRESSIVE" prefix="AGR_">
>>
>>
>> <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
>>
>>
>> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
>>
>>
>> <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
>>
>>
>> <define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb -->
>>
>>
>> <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
>>
>>
>> <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
>>
>>
>> <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
>>
>> <define name="DESCENT_NAV_RATIO" value="1.0"/>
>>
>> </section>
>>
>> <section name="SIMU">
>>
>> <define name="WEIGHT" value="1."/>
>>
>> <define name="YAW_RESPONSE_FACTOR" value="1."/>
>>
>> <define name="ROLL_RESPONSE_FACTOR" value="15."/>
>>
>> </section>
>>
>> </airframe>
>>
>> _______________________________________________
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>>
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>>
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>>
>>
>
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