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Re: [Paparazzi-devel] Tiny 2 and IR, gyro settings

From: Uttam Chandrashekhar
Subject: Re: [Paparazzi-devel] Tiny 2 and IR, gyro settings
Date: Mon, 14 Jan 2008 18:08:23 -0800 (PST)

Hi Pascal,

Thanks you! I didn't know the wiki was updated, I should have looked before asking. Sorry! It's mostly all clear now, only one question. What does horizontal sensor tilted/aligned mean? Is it because of the position where the horizontal sensor is mounted, it may not be possible to mount it aligned with the aircraft? What is the optimal position to place the horizontal and vertical sensors?

Regarding the telemetry. I will first try using the serial protocol and a direct cable connection ( Computer USB->Serial on Tiny??? )? I have the maxstream modems too.


----- Original Message ----
From: Pascal Brisset <address@hidden>
To: address@hidden
Sent: Tuesday, January 15, 2008 1:46:30 AM
Subject: Re: [Paparazzi-devel] Tiny 2 and IR, gyro settings

Information about the infrared configuration has recently been updated
in the wiki:

You should find there some answers to your questions.

Your next step probably is to set the telemetry. You can use a cable
(USB/serial 3.3V converter) to start.


Uttam Chandrashekhar wrote:
> Hi guys,
> I got the IR boards working, I replaced the low drift opamps in a
> static free environment ( Wrist strap and mat )! On the XY board,
> neutrals across the 2 axis vary a bit, one says 1.9 V and the other
> says 2.1V. Is this OK? I have some questions regarding the IR sensors
> and Gyro sensor settings in the funjet1.xml file. Since this will be
> installed in a different plane, I'll have to tweak the settings.
>  <section name="INFRARED" prefix="IR_">
>    <define name="ADC_IR1_NEUTRAL" value="512"/>
>    <define name="ADC_IR2_NEUTRAL" value="512"/>
>    <define name="ADC_TOP_NEUTRAL" value="512"/>
>    <define name="LATERAL_CORRECTION" value="1."/>
>  <define name="LONGITUDINAL_CORRECTION" value="1."/>
>    <define name="VERTICAL_CORRECTION" value="1.5"/>
>    <define name="HORIZ_SENSOR_TILTED" value="1"/>
>    <define name="IR2_SIGN" value="-1"/>
>    <define name="TOP_SIGN" value="-1"/>
>    <define name="ROLL_NEUTRAL_DEFAULT" value="-2.5" unit="deg"/>
>    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
>    <define name="CORRECTION_UP" value="1."/>
>    <define name="CORRECTION_DOWN" value="1."/>
>    <define name="CORRECTION_LEFT"
>  value="1."/>
>    <define name="CORRECTION_RIGHT" value="1."/>
>  </section>
> In the above bit of code, what does the Neutral value of "512"
> signify? Why is it 512?
> What do the correction values mean? What does the IRx_SIGN signify?
> What do the other variables mean ( roll and pitch neutral def, and the
> up down left right corrections )?
> Since the IR sensors are working OK, what would be by next step? Can I
> go ahead and plug it into the Tiny and flash the APcode ( I replaced
> the ap code with the tunnel for GPS prog )?
> -Thanks, you guys are the BEST!
> -Uttam
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