Re: [Paparazzi-devel] custom autopilots

[antoine drouin]

I wrote the code and ground-tested it with a sparkfun module. I did
not flight test it, indulging into my passion of not finishing things.

On Wed, Jan 12, 2011 at 9:14 PM, Stephen Dwyer <address@hidden> wrote:
> Hello,
>
> On the note of the skytraq decoder, I was curious about this. Has
> anyone had experience using the skytraq receivers with Paparazzi,
> especially with fixedwing? In particular I am interested in the Venus
> modules Sparkfun carries (http://www.sparkfun.com/products/9060).
> Antoine, I noticed your comment on Sparkfun about having tested all of
> the modules they offer and much preferring the uBlox one. Clearly
> these modules are better based on the level of use within the
> community. However, the small size and lower cost of the Venus modules
> are intriguing (plus the fact I have a few laying around). I realize
> the code currently sits in the rotorcraft area.
>
> Just wondering about any thoughts or experiences.
>
> Thanks,
> -Stephen Dwyer
>
> On Wed, Jan 12, 2011 at 11:32 AM, antoine drouin <address@hidden> wrote:
>> There's a skytraq decoder in the rotorcraft codebase
>>
>> On Wed, Jan 12, 2011 at 7:26 PM, Felix Ruess <address@hidden> wrote:
>>> Hi Andre,
>>>
>>> great!
>>> Fixes/additions to the NMEA parser would be very much appreciated. Same goes
>>> for new (mediatek/sirf) parsers.
>>> A pull request is the preferred way of contributing, but patches would be
>>> fine as well.
>>>
>>> I would like to encourage everyone again to share their
>>> bugs/fixes/modules/nav_routines/additions and submit a bug report, code
>>> review or pull request where appropriate.
>>>
>>> Do you think a wiki page on how to contribute would help or is actually
>>> needed?
>>>
>>> Cheers, Felix
>>>
>>> On Wed, Jan 12, 2011 at 5:31 PM, Andre Devitt <address@hidden> wrote:
>>>>
>>>> I can chime in about the NMEA parser. I've been working with some
>>>> folks using a mediatek GPS and we've brought the NMEA parser to a more
>>>> usable level.
>>>>
>>>> We added support for  satellite signal level reporting (GPGSV msg),
>>>> as well as parsing heading, and speed. I'd be happy to submit a pull
>>>> request if it'll help out. I also added the gps type "nmea" and
>>>> associated files to the new software build system.
>>>>
>>>> I do agree with Felix's thoughts on NMEA not being the nicest
>>>> protocol. It's likely that the sirf binary protocol isn't that
>>>> different from ublox, it might be worth looking into using it instead.
>>>> The ublox parsing code could probably be used as a template for sirf.
>>>>
>>>> Protocol info is here: here
>>>> http://www.usglobalsat.com/downloads/SiRF_Binary_Protocol.pdf
>>>>
>>>> We have some other hardware support that we'd like to contribute as
>>>> well so contributing the nmea code might be a good start for us to
>>>> figure out the process.
>>>>
>>>> Andre
>>>>
>>>> (finally found mediatek binary specs last night and may implement at some
>>>> point)
>>>>
>>>> On Wed, Jan 12, 2011 at 10:50 AM, Maikel Punie <address@hidden>
>>>> wrote:
>>>> > maybe i should have a look at those boards then,
>>>> >
>>>> > any sugestion on what board? since i have no idea what board to use.
>>>> > about the gps: it supports nmea or SirfBinary format, but it seems that
>>>> > the
>>>> > sirf binary format is not supported,
>>>> > What about the imu on i2c should it be possible to integrate that one?
>>>> >
>>>> > Maikel
>>>> >
>>>> > On Wed, Jan 12, 2011 at 16:38, Felix Ruess <address@hidden>
>>>> > wrote:
>>>> >>
>>>> >> Hi Maikel,
>>>> >>
>>>> >>>>
>>>> >>>> What limitations do you see? Any hw/technical limitations or is this
>>>> >>>> more concerned with availability?\
>>>> >>>
>>>> >>> buying another board an all new hardware,
>>>> >>> we already have all the hardware (except the failsafe rc part)
>>>> >>>
>>>> >>> so if we are going with a paparazzi board we will need to drop all out
>>>> >>> hardware and start over, or is there a possibility to integrate our
>>>> >>> own
>>>> >>> modem, gps servo controller and stuff with the paparazzi boards?
>>>> >>
>>>> >> Of course you can integrate your modem and GPS with paparazzi.
>>>> >> - Modem should be trivial (probably nothing to be done here at all as
>>>> >> long
>>>> >> as your modems can provide a transparent, serial-like, link and don't
>>>> >> need
>>>> >> any fancy in-the-air configuration).
>>>> >> - GPS should not be a really big deal either (although the paparazzi
>>>> >> NMEA
>>>> >> parser is not really good and nobody uses it afaik). So you would
>>>> >> probably
>>>> >> want to have a look at the parser and make sure it works always and
>>>> >> does not
>>>> >> hang up on unexpected packets. NMEA is not really nice in my (and a lot
>>>> >> of
>>>> >> other peoples) opinion anyway.... but that is not the point here of
>>>> >> course.
>>>> >> - Your servo controller you would very likely not need at all, since
>>>> >> that
>>>> >> is already directly on the paparazzi boards.
>>>> >>
>>>> >> Nevertheless, personally I think it would be nice to have support to
>>>> >> run
>>>> >> all the paparazzi stuff in linux userland. That being said, I don't
>>>> >> think
>>>> >> this is a very good idea in a lot of cases. (You loose tight control
>>>> >> over
>>>> >> timing, you should probably use a RT linux, etc.)
>>>> >> Imho it often makes more sense do do the sensor interfacing and fast
>>>> >> estimation/control loops directly on a dedicated board and only do
>>>> >> higher
>>>> >> level (navigation, payload, perception, etc.) on a (especially when it
>>>> >> is a
>>>> >> non-realtime) linux board.
>>>> >>
>>>> >> Cheers, Felix
>>>> >>
>>>> >> _______________________________________________
>>>> >> Paparazzi-devel mailing list
>>>> >> address@hidden
>>>> >> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>> >>
>>>> >
>>>> >
>>>> > _______________________________________________
>>>> > Paparazzi-devel mailing list
>>>> > address@hidden
>>>> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>> >
>>>> >
>>>>
>>>> _______________________________________________
>>>> Paparazzi-devel mailing list
>>>> address@hidden
>>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>