[Paparazzi-devel] using xbee comnnication

[C Kuo]

Hi guys

  I have test all my tiny with usb-tty cable, and eveything seen to work,
however, when I use the Xbee pro for the modem, it didn't seen to getting
signal back to ground station

  Form what I understand, it shouldn't need any driver for it if I am running in
xubuntu. does any one had problem like this before?

  here is the section of my aircraft xml file

<section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." 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="\"ATPL2\rATRN1\rATTT80\r\""/>
<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>



<section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="XBEE"/>
    <define name="DEVICE_ADDRESS" value="...."/>
  </section>
  
 <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile

FLASH_MODE=IAP

ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c

ap.srcs += commands.c

ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c

ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  

ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c

#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
-DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ
-DUART0_BAUD=B9600
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
pprz_transport.c


ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c 

ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.CFLAGS += -DGPS -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
-DUART1_BAUD=B38400

ap.srcs += gps_ubx.c gps.c

ap.CFLAGS += -DINFRARED
# -DALT_KALMAN
ap.srcs += infrared.c estimator.c

ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
nav_line.c

#ap.srcs += traffic_info.c

#ap.CFLAGS += -DGYRO -DADXRS150
#ap.srcs += gyro.c

ap.srcs += i2c.c arm7/i2c_hw.c dpicco.c
ap.CFLAGS += -DDPICCO

#ap.srcs += humid_sht.c
#ap.CFLAGS += -DUSE_HUMID_SHT

#ap.srcs += baro_scp.c
#ap.CFLAGS += -DUSE_BARO_SCP

# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c

#ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 -DTELEMETRY_MODE_AP=1

# Harware In The Loop

#ap.CFLAGS += -DHITL


# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c

  </makefile>
</airframe>



thanks

                               Chen