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Re: [Paparazzi-devel] First power-up of Autopilot OK, some questions

From: Martin P
Subject: Re: [Paparazzi-devel] First power-up of Autopilot OK, some questions
Date: Tue, 26 May 2009 10:46:01 +0200

Hello all! 

With your help, I made some progress. Thanks again. Not surprisingly, more 
questions have arisen. 

1) Xbee: 
I got a pair of 2,4GHz xbee's for at least until the duty cycle issue is 
solved. Maybe it is even illegal to use more than 10% duty cycle with the xbee 
868. The 2G4 modems work great, so far. 

2) Calibrating the IR's: 
I put the sensors in a styrofoam box and got the readings from the messages 
window. The horizontals were around 300, while the vertical was zero and 
increased slowly. They all drifted. Is this normal? If yes, should I wait until 
they stop drifting or should I take the inital values, or average? 

3) IR sensor orientation
I'll probably find out which thermopile is which, but I did not find any hint 
on this. Which one is the top, which is the bottom? Which is the fore, aft, 
left and right sensor? I mean mechanically, for mounting on the airframe. 

4) Battery voltage: 
I connected a 3S lipo battery with roughly 12V, but the GCS reports something 
like 8V and in the terminal section I get messages like catastrophic lo batt 
Do I have to adjust something? 

5) Servos: 
I tapped the receiver and I am able to switch to manual, auto1 and auto2 modes 
with the transmitter. I connected a servo and expected to be able to control it 
in manual mode by moving the transmitter sticks. 
Tried different servo connectors on the Tiny, no luck. 

I am using the original funjet1.xml (which I will have to change because I will 
not (yet) fly a Funjet). In the messages window, I can see that the actuators 
react to the movement of the sticks. Tried to see the PWM signals on the scope. 
Did not see any pulses, all of the servo signal pins were constantly hi. 

Since I was indoors, I did not have a fix. Do I have to wait until I get a fix 
before attempting to control the servos? 

Greetz, Martin 

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