>> 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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