Re: [Paparazzi-devel] Not able to send signal to the airplane.

[Árni Þorvaldsson]

Hi , I have another plane and computer (with paparazzi installed) here that 
works perfectly. I have tried to use the same settup for my plane but it´s 
still the same problem. So it´s probably something with the board since I am 
using the same configuration and same xbees.

maybe I am missing something. I don know if it is hardware problem or something 
I have to flash the board with to be able to get the uplink possible.
If someone has experienced this before please help.

regards Arni.
________________________________
Frá: address@hidden address@hidden fyrir hönd Christoph Niemann address@hidden
Sent: 25. júlí 2012 16:20
To: address@hidden
Efni: Re: [Paparazzi-devel] Not able to send signal to the airplane.

Weird.

Never had that before. What happens, if the permissions for the Modem-Device 
(e.g. /dev/ttyUSB0) are read-only? Perhaps in this case, there won't be an 
error Message, but just no data going through the line.  The datalink is, as 
far as i know, only configured by the parameters given to the link-program 
(e.g. sw/ground_segment/tmtc/link  -d /dev/ttyUSB0 -s 57600) on the ground-side 
and the telemtry-defines in the Airframe-File. But both seem ok, since its 
working for the downlink...
Perhaps check the permissions for the Modem.

Good Luck

Christoph

2012/7/25 Árni Þorvaldsson <address@hidden<mailto:address@hidden>>
a little update on my problem, I just put an oscilloscope on tx and rx ports of 
the serial on the tiny.  I can see data going through TX but nothing is 
happening on RX. That means that there are no data going to the Tiny so the 
problem lies in the paparazzi. I am not sure where I configure the datalink.

If someone can help me it is highly preciated.

Arni
________________________________________
Frá: address@hidden<mailto:address@hidden> 
address@hidden<mailto:address@hidden>] fyrir h&#246;nd Árni Þorvaldsson 
address@hidden<mailto:address@hidden>]
Sent: 25. júlí 2012 14:15
To: address@hidden<mailto:address@hidden>
Efni: [Paparazzi-devel] Not able to send signal to the airplane.

Hi all
I was going to have my first first flight today but had some errors, manual 
mode is working fine and I am receiving the messages from the airplane and have 
already calibrated the IR sensors and servos.
My problem now seems to be that I am not able to send data to the autopilot 
through xbees ( xbee communication only work one way). I have tried to connect 
usb-serial cable instead of xbees and still the same problem so it´s not 
problem with the xbees.
Is there something I am missing?

Here are my airframe and telemetry files. (is there something else I need to 
display)

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
     PerkinElmer TPS334 IR Sensors
     Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
     XBee modem with AT firmware
     LEA 5H GPS
-->

<airframe name="Funjet Tiny 2.11">

  <firmware name="fixedwing">
    <target name="sim"             board="pc"/>
    <target name="ap"             board="tiny_2.11"/>

    <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="ALT_KALMAN"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="joystick"/>

    <!-- Communication -->
    <subsystem name="telemetry" type="transparent"/>



    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="ahrs"         type="infrared"/>
    <subsystem name="gps"             type="ublox"/>

    <subsystem name="navigation"/>
  </firmware>

  <modules>
    <load name="infrared_adc.xml"/>
  </modules>

  <firmware name="setup">
    <target name="tunnel"             board="tiny_2.11"/>
    <target name="setup_actuators"     board="tiny_2.11"/>
  </firmware>

<!-- commands section -->
  <servos>
    <servo name="MOTOR"         no="7" min="1000" neutral="1000" max="2000"/>
    <servo name="AILEVON_LEFT"  no="4" min="1900" neutral="1500" max="1100"/>
    <servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1500" max="1900"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>
  </rc_commands>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.45"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
  </section>

  <command_laws>
    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR"           value="@THROTTLE"/>
    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>
  <!--section name="MISC">
    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
    <define name="NO_XBEE_API_INIT" value="FALSE"/>
  </section-->
  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="514"/>
    <define name="ADC_IR2_NEUTRAL" value="511"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>

    <define name="LATERAL_CORRECTION" value="-1"/>
    <define name="LONGITUDINAL_CORRECTION" value="1"/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="IR1_SIGN" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="1"/>
    <define name="HORIZ_SENSOR_TILTED" value="1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </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="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

    <define name="THROTTLE_SLEW" value="0.1"/>
  </section>


  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-0.9"/>
    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

    <define name="ROLL_PGAIN" value="6600."/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="PITCH_PGAIN" value="-5500."/>
    <define name="PITCH_DGAIN" value="0.4"/>

    <define name="ELEVATOR_OF_ROLL" value="2400"/>
  </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="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="15"/><!-- 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="0.35"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

  <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>

</airframe>


<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
  <process name="Ap">
    <mode name="default">
      <message name="AIRSPEED"                period="1"/>
      <message name="ALIVE"                        period="5"/>
      <message name="GPS"                            period="0.25"/>
      <message name="NAVIGATION"            period="1."/>
      <message name="ATTITUDE"                 period="0.5"/>
      <message name="ESTIMATOR"              period="0.5"/>
      <message name="ENERGY"                    period="2.5"/>
      <message name="WP_MOVED"              period="0.5"/>
      <message name="CIRCLE"                      period="1.05"/>
      <message name="DESIRED"                   period="1.05"/>
      <message name="BAT"                            period="1.1"/>
      <message name="BARO_MS5534A"       period="1.0"/>
      <message name="SCP_STATUS"          period="1.0"/>
      <message name="SEGMENT"             period="1.2"/>
      <message name="CALIBRATION"         period="2.1"/>
      <message name="NAVIGATION_REF"      period="9."/>
      <message name="PPRZ_MODE"           period="5."/>
      <message name="SETTINGS"            period="5."/>
      <message name="STATE_FILTER_STATUS" period="5."/>
      <message name="DOWNLINK"            period="5.1"/>
      <message name="DL_VALUE"            period="1.5"/>
      <message name="IR_SENSORS"          period="1.2"/>
      <message name="GYRO_RATES"          period="1.1"/>
      <message name="SURVEY"              period="2.1"/>
      <message name="GPS_SOL"             period="2.0"/>
    </mode>
    <mode name="minimal">
      <message name="ALIVE"               period="5"/>
      <message name="ATTITUDE"            period="4"/>
      <message name="GPS"                 period="1.05"/>
      <message name="ESTIMATOR"           period="1.3"/>
      <message name="WP_MOVED"            period="1.4"/>
      <message name="CIRCLE"              period="3.05"/>
      <message name="DESIRED"             period="4.05"/>
      <message name="BAT"                 period="1.1"/>
      <message name="SEGMENT"             period="3.2"/>
      <message name="CALIBRATION"         period="5.1"/>
      <message name="NAVIGATION_REF"      period="9."/>
      <message name="NAVIGATION"          period="3."/>
      <message name="PPRZ_MODE"           period="5."/>
      <message name="STATE_FILTER_STATUS" period="5."/>
      <message name="DOWNLINK"            period="5.1"/>
      <message name="DL_VALUE"            period="1.5"/>
      <message name="IR_SENSORS"          period="5.2"/>
      <message name="GYRO_RATES"          period="10.1"/>
      <message name="SURVEY"              period="2.1"/>
      <message name="GPS_SOL"             period="5.0"/>
    </mode>
    <mode name="extremal">
      <message name="ALIVE"               period="5"/>
      <message name="GPS"                 period="5.1"/>
      <message name="ESTIMATOR"           period="5.3"/>
      <message name="BAT"                 period="10.1"/>
      <message name="DESIRED"             period="10.2"/>
      <message name="NAVIGATION"          period="5.4"/>
      <message name="PPRZ_MODE"           period="5.5"/>
      <message name="STATE_FILTER_STATUS" period="7."/>
      <message name="DOWNLINK"            period="5.7"/>
    </mode>
  </process>
  <process name="Fbw">
    <mode name="default">
      <message name="COMMANDS"            period="5"/>
      <message name="FBW_STATUS"          period="2"/>
      <message name="ACTUATORS"           period="5"/> <!-- For trimming -->
    </mode>
    <mode name="debug">
      <message name="PPM"                 period="0.5"/>
      <message name="RC"                  period="0.5"/>
      <message name="COMMANDS"            period="0.5"/>
      <message name="FBW_STATUS"          period="1"/>
      <message name="ACTUATORS"           period="5"/> <!-- For trimming -->
    </mode>
  </process>
</telemetry>

regards Arni


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