Re: [Paparazzi-devel] using xbee comnnication

[address@hidden]

The line "-DUART0_BAUD=B57600" means your Tiny is communicating with the modem 
at 56K baud.  Check that your modem is configured for that speed.  Do the same 
for the ground modem.  The default "link" line in the GCS likely needs to be 
changed to read /dev/ttyUSB0 -s 57600 or such.  Check pprz center for errors 
when launching the link. 

-- C Kuo <address@hidden> wrote:
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



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