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From: | Gautier Hattenberger |
Subject: | Re: [Paparazzi-devel] Lost in cam and motors |
Date: | Wed, 05 Dec 2012 15:02:40 +0100 |
User-agent: | Mozilla/5.0 (X11; Linux x86_64; rv:10.0.10) Gecko/20121027 Icedove/10.0.10 |
Hello, Le 05/12/2012 14:05, Andrius Batalauskas a écrit : There is no <set command value/>, only <set servo value/> in this section. The two "set command" should be in rc_commans section, assuming you want to control the camera in manual using the YAW and GAIN1 channel of your RC. If you don't care about manual control, remove the two lines. Do you have a section like this in your airframe ? : <section name="CAM" prefix="CAM_"> <define name="TILT_MAX" value="30" unit="deg"/> <define name="TILT_NEUTRAL" value="0" unit="deg"/> <define name="TILT_MIN" value="-30" unit="deg"/> <define name="TILT0" value="0" unit="deg"/> <define name="PAN_MAX" value="45" unit="deg"/> <define name="PAN_NEUTRAL" value="0" unit="deg"/> <define name="PAN_MIN" value="-45" unit="deg"/> <define name="PAN0" value="0" unit="deg"/> </section>The min and max in the servo sections are the bound values of the actual servo in ms for the pwm output signal. CAM_XXX_MIN/MAX/NEUTRAL are the maximum positions of the camera in degrees. I'm not completely sure if the cam module is using correctly radians/degrees. So it might be necessary to add code_unit="deg" after unit="deg", otherwise you may have issue with automatic conversion. Without your actual airframe and RC files (and paparazzi version) it is a bit hard to tell. Controlling in manual is possible, but the cam module was made for fixedwing firmware long ago and it may not work correctly with rotorcraft (yet). Gautier
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