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Re: [Paparazzi-devel] Pointing quadcopter?

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Pointing quadcopter?
Date: Tue, 26 Nov 2013 15:04:29 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:17.0) Gecko/20130827 Icedove/17.0.8


Maybe you should try
<define name="ROTORCRAFT_CAM_TRACK_WP" value="WP_CAM"/>

Note that default track wp is already WP_CAM, so you can probably remove it.

Other possibility: add a section node in your airframe instead of defines in the modules node and use "prefix"
<section name="CAM" prefix="ROTORCRAFT_CAM_">
  <define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_WP"/>
  <define name="TRACK_WP" value="WP_CAM"/>


Le 24/11/2013 16:13, Ben Laurie a écrit :

On 20 November 2013 13:30, Felix Ruess <address@hidden> wrote:

you can also use the rotorcraft_cam module to always point it towards a certain waypoint.

I tried this, but it didn't seem to do anything (heading stayed as it was on takeoff, I could change it in settings and it did change).

Here's what I have in the modules section...

  <modules main_freq="512">
    <load name="gps_ubx_ucenter.xml">
      <define name="GPS_PORT_ID" value="GPS_PORT_USB"/>
    <load name="rotorcraft_cam.xml">
      <define name="DEFAULT_MODE" value="MODE_WP"/>
      <define name="TRACK_WP" value="CAM"/>
    <!--load name="sys_mon.xml"/-->

What did I do wrong?

Cheers, Felix

On Wed, Nov 20, 2013 at 12:23 PM, Ben Laurie <address@hidden> wrote:

On 19 November 2013 18:57, Sergey Krukowski <address@hidden> wrote:
Afaik, there is a variable nav_heading in rotorcraft_guidance.xml. But seems that you have to manually calculate the heading. I'm not sure if the circle block under default flight plan is able to point the airframe. But it should not be to hard to add this feature.

Any hints where I'd have to look?

Best Regards,

On 19 November 2013 16:57, Felix Ruess <address@hidden> wrote:


of course it is a bit easier if your IMU already points in the direction
you consider the front of your multirotor.
Then you can just set the BODY_TO_IMU orientation<> to

zero (or only a few degrees to account for mounting misalignment).

But this is not a prerequisite, you can set any BODY_TO_IMU orientation
for AHRS int_cmpl_quat and it will deal with it correctly.
E.g. on my quadrotor I have the IMU mounted 45deg rotated as it was easier
to mount.

Regardless of how your IMU is oriented, you have to specify how your
motors are arranged (how many, turning direction, placement) in the
The wiki lists common examples like a quadrotor + and x configuration, for
more advanced motor placement describes how to compute
the needed motor mixing.

That's not what I really meant, I think. I meant, can I create a flight
plan that says, for example, "fly from P1 to P2 while pointing at P3"?

Hope that helps,

On Tue, Nov 19, 2013 at 4:52 PM, Marius Pfeffer <address@hidden>wrote:


First you schould mount the imu facing the right position.

And second set the right xml parameters for motor mixing (aka supervision)

Am 19.11.2013 10:27 schrieb "Ben Laurie" <address@hidden>:

 Is there a way to choose which way a quad points?

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