RE: [Paparazzi-devel] radio control

[mark.griffin]

Hi Reto,
Yes, I'm flying without a magnetometer. It seems that the GPS "heading" info is 
good enough. If I had the IMU installed in a rotorcraft, the magnetometer would 
be highly desirable to stabilize the yaw. I do have a HMC5843 magnetometer and 
may try it out sometime.
The next step is to see if it all works with the Eagletree airspeed sensor.
Cheers, Mark

-----Original Message-----
From: address@hidden [mailto:address@hidden On Behalf Of Reto Büttner
Sent: Wednesday, 10 November 2010 1:12 PM
To: address@hidden
Subject: Re: [Paparazzi-devel] radio control

Hi Mark,

great to read you have the ArduIMU flight tested. Are you using it
without a magnetometer?

Cheers, Reto

2010/11/10  <address@hidden>:
> Hi David,
>
> That's great news and congratulations on your progress.
>
> BTW, I have connected the ArduIMUv2 to my TWOG and put in my Funjet. It
> flies great at an airspeed of  ~ 20m/s. I have not yet dared to try it at 40
> m/s!
>
> Also, thanks to the ZHAW students for developing this great addon to the
> Paparazzi system and to Reto for his efforts to make the Paparazzi community
> aware of it.
>
> Cheers, Mark
>
>
>
> From: address@hidden
> [mailto:address@hidden On Behalf
> Of David Conger
> Sent: Wednesday, 10 November 2010 4:46 AM
> To: address@hidden
> Subject: Re: [Paparazzi-devel] radio control
>
>
>
> Hello all,
>
>
>
> I have good news. Inexplicably the 3-pos switch started working. The only
> think I could remember changing is removing the RUDDER entry in the airframe
> file under the servo assignments. I discovered it working at the flying
> field. I was going to go into AUTO by powering off the Tx and MANUAL by
> powering on the Tx. I actually did this. Then to show my partner the 3-pos
> switch was not working I toggled it and noticed it actually did something. I
> don't mind happy surprises so I'm not going to question it. It just works.
>
>
>
> Unfortunately in this first flight the aircraft when put in AUTO1 would
> sharply dive immediately. I tried at least 5-8 times all with the same
> results. It was getting dark but I decided on a second flight. This time I
> let the IMU calibrate for at least 30 seconds with the plan horizontal. I
> took off and when I went to AUTO1 ... it flew. I dared try AUTO2 and it
> worked!!! Stable flight. I couldn't let it fly long as it was well past
> sunset and I could not allow it to go very far. However absolutely AUTO1 and
> AUTO2 were stable.
>
>
>
> Tomorrow we hope to fly some more during daylight but I wanted to just
> report this good news.
>
>
>
> -David
>
> On Nov 9, 2010, at 4:01 PM, David Conger wrote:
>
> Ah, ok, a bit closer.
>
>
>
> This is probably due to my using the tuning_ins.xml file as suggested. There
> are no MANUAL, AUTO1, AUTO2 defined in there that I can see. Similar to
> BOOZ.
>
>
>
> Is there documentation around the settings file? I would be a bit nervous
> using the on/off switch on the Tx to control engaging the autopilot on/off
>
>
>
> I don't mind learning but I think this is not an issue with my having ground
> connected to the ESC anymore.. :)
>
>
>
> Regards,
>
> David
>
> On Nov 8, 2010, at 10:53 PM, Michel GORRAZ wrote:
>
> Hi,
> Nothing to do with you R/C issue, sorry, but noticed you've connected the
> GND of PPM connector between ESC and Tiny.
> You shouldn't do that because if for some reason the GND power cable of ESC
> get loose (in flight or test), you will burn your Tiny.
> (all motor current will pass thru the small cable, molex connector and
> Tiny's PCB...)
>
> @+
> Michel
>
> 2010/11/9 David Conger <address@hidden>
>
> In case it is helpful to see an answer here's more details:
> Aircraft: Multiplex Merlin
> Autopilot: Tiny13
> 4 servos (2x Aileron, Elev, Rudder) . Turnigy micro digital servos:
> http://hobbycity.com/hobbyking/store/uh_viewItem.asp?idProduct=8511
> Rx: Berg4L modified to output PPM to the autopilot
> All servos connected to the autopilot (ppm, 5v, gnd)
> ArduIMU v2 with SDC, SCL, GND, 5V connected to Autopilot and attached
> (double sided tape) to the bottom of the Tiny13
> MultiPlex power pack for motor and prop
> 10A ESC (it was smaller in size than the 18A one that came from
> Multiplex)..only GND and PPM connected to the Tiny13
>
>
>
> My airframe file looks like:
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>
> <!-- Merlin, Himax HC2212-1180
>     Tiny 1.1
>     ArduIMU Sensor
>     XBee modem
>     LEA 5H GPS
> -->
>
> <airframe name="Merlin 1">
>
>  <firmware  name="fixedwing">
>        <target name="sim"      board="pc">
>                <define name="AGR_CLIMB"/>
>                <define name="LOITER_TRIM"/>
>                <define name="ALT_KALMAN"/>
>                <define name="WIND_INFO"/>
>                <define name="WIND_INFO_RET"/>
>        </target>
>
>        <target name="ap"       board="tiny_1.1">
>                <define name="AGR_CLIMB"/>
>                <define name="LOITER_TRIM"/>
>                <define name="ALT_KALMAN"/>
>                <define name="WIND_INFO"/>
>                <define name="WIND_INFO_RET"/>
>                <define name="USE_I2C0"/>
>        </target>
>
>        <subsystem name="radio_control" type="ppm"/>
>        <subsystem name="telemetry"     type="transparent"/>
>        <subsystem name="control"/>
>        <subsystem name="gps"           type="ublox_lea5h"/>
>        <subsystem name="navigation"/>
>        <subsystem name="i2c"/>
>  </firmware>
>
>  <firmware name="setup">
>        <target name="tunnel"           board="tiny_1.1"/>
>        <target name="usb_tunnel_0"     board="tiny_1.1"/>
>        <target name="usb_tunnel_1"     board="tiny_1.1"/>
>        <target name="setup_actuators"  board="tiny_1.1"/>
>  </firmware>
>
>  <modules>
>        <load name="ins_arduimu.xml"/>
>  </modules>
>
> <!-- commands section -->
>  <servos>
>    <servo name="AILERON_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
>    <servo name="AILERON_LEFT"  no="6" min="1900" neutral="1500" max="1100"/>
>    <servo name="ELEVATOR"      no="2" min="1100" neutral="1500" max="1900"/>
>    <servo name="MOTOR"         no="1" min="1000" neutral="1000" max="2000"/>
>    <servo name="RUDDER"        no="0" min="1000" neutral="1000" max="2000"/>
>  </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="AILERON_DIFF" value="0.8"/>
>  </section>
>
>  <command_laws>
>    <set servo="MOTOR" value="@THROTTLE"/>
>    <set servo="ELEVATOR" value="@PITCH"/>
>    <let var="roll" value="@ROLL"/>
>    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) *
> $roll"/>
>    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) *
> $roll"/>
>  </command_laws>
>
>  <section name="AUTO1" prefix="AUTO1_">
>    <define name="MAX_ROLL" value="0.85"/>
>    <define name="MAX_PITCH" value="0.6"/>
>  </section>
>
>  <!--<section name="adc" prefix="ADC_CHANNEL_">
>    <define name="IR1" value="ADC_1"/>
>    <define name="IR2" value="ADC_2"/>
>    <define name="IR_TOP" value="ADC_0"/>
>    <define name="IR_NB_SAMPLES" value="16"/>
>  </section> -->
>
>  <section name="INS" prefix="INS_">
>    <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="20000"/>
>    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
>    <define name="CRITIC_BAT_LEVEL" value="10.3" unit="V"/>
>  </section>
>
>  <section name="MISC">
>    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
>    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
>    <define name="MAXIMUM_AIRSPEED" value="18." 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="XBEE_INIT"
> value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
> <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
>    <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"/>
>    <!-- 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"/>
>    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
>    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
>
>    <!-- auto pitch inner loop -->
>    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
>    <define name="AUTO_PITCH_IGAIN" value="0.08"/>
>    <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="-1.0"/>
>    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
>    <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="6000."/>
>    <define name="AILERON_OF_THROTTLE" value="0.0"/>
>    <define name="PITCH_PGAIN" value="-9000."/>
>    <define name="PITCH_DGAIN" value="1.5"/>
>
>    <define name="ELEVATOR_OF_ROLL" value="1500"/>
>
>    <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
>    <define name="ROLL_RATE_GAIN" value="-2900"/-->
>  </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="0.17" unit="rad"/>
>    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
>    <define name="HOME_RADIUS" value="100" unit="m"/>
>  </section>
>
> </airframe>
>
> I'm using the settings file: conf/settings/tuning_ins.xml
> I'm using the radio file: conf/radios/T7cap.xml
>
> I'm not sure if I forgot anything but the radio is the same as used with a
> TWOG and Booz without issue. The biggest problem is an inability to get the
> mode switched using the transmitter.
>
> Regards,
> David Conger
>
> On Nov 8, 2010, at 4:54 PM, David Conger wrote:
>
>> Hello,
>>
>> I have a very strange issue. With a TWOG and my T7CAP everything was just
>> fine. The 3-pos switch worked well. With Booz it works well. Flying is just
>> fine.
>>
>> The problem is the same everything (Berg4L receiver, same config) but with
>> a Tiny13 it doesn't work. By "doesn't work" I mean the 3-pos switch has no
>> effect. Also the autopilot acts strangely.  I powered it on without the
>> T7CAP on and the autpilot acted as if it was in AUTO2 as expected. What
>> doesn't work is powering on the T7CAP I expect full MANUAL mode. That didn't
>> happen. On powering up the T7CAP some of the controls (i.e. right aileron)
>> was no responding to the Tx. The 3-pos switch had no effect. Very odd.
>>
>> I read about ppm being modified. Could this be related?
>>
>> -David Conger
>>
>> On Oct 19, 2010, at 9:25 AM, Gautier Httenberger wrote:
>>
>>> Hi all,
>>>
>>> I have made some changes in the RC mechanism. It is now using something
>>> really close to what exist on rotorcraft for fixed wing. The idea is to
>>> merge the two in a near future.
>>>
>>> What is available on FW are:
>>> <subsystem name="radio_control" type="ppm"/>  (regular ppm decoding,
>>> working with tiny/twog, need to be tested on lisa)
>>> <subsystem name="radio_control" type="datalink"/>  (rc is coming from the
>>> datalink, the ground part need a bit more work to be user friendly...)
>>>
>>> The old files for decoding ppm frames will be deleted soon.
>>>
>>> Please report any troubles with this need radio control system.
>>>
>>> Gautier
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
>> _______________________________________________
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