Re: [Paparazzi-devel] Can't get GCS to populate

[Daniel Morgan]

You need to switch your uarts. They are backwards, the link should use uart1 and the gps should use uart0

On Thu, Mar 5, 2009 at 8:59 AM, Alston Pike <address@hidden> wrote:

Hello,

 

I'm new to Paparazzi, as I bought a Tiny 2.11 board from PPZUAV back in November.  I've finally gotten all my connections together and the board installed in my plane, a Parkzone Spitfire that I've slightly modified.  But this is where my trouble begins...

 

So I now have two questions/problems:

 

First, I can't get the GCS to populate when using the xbee modems.  I've sifted through the mailing list and looked at all the suggestions to get it to work.  Nothing has worked so far.  The FTDI cable works, so I think it's in my configuration somewhere.  Here is what I have in my airframe configuration file (shortened a bit):

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Blackbird">

<!-- commands section -->

<servos>

<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>

<servo name="ELEVATOR" no="2" min="1000" neutral="1400" max="1800"/>

<servo name="AILERON" no="3" min="1000" neutral="1450" max="1800"/>

</servos>

...

<section name="NAV">

<define name="NAV_PITCH" value="0."/>

<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>

</section>

<section name="FAILSAFE" prefix="FAILSAFE_">

<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>

<define name="DEFAULT_THROTTLE" value="0." unit="%"/>

<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>

<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>

<define name="HOME_RADIUS" value="100" unit="m"/>

</section>

<section name="DATALINK" prefix="DATALINK_">

<define name="DEVICE_TYPE" value="PPRZ"/>

<define name="DEVICE_ADDRESS" value="...."/>

</section>

<section name="SIMU">

<define name="YAW_RESPONSE_FACTOR" value="0.5"/>

</section>

<makefile>

CONFIG = \"tiny_2_1_1.h\"

include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile

FLASH_MODE=IAP

ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -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_4017_hw.h\" -DSERVOS_4017

ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c

ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA

ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

#PPRZ DATALINK PROTOCOL

ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600

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 -DUSE_ADC_3

ap.srcs += $(SRC_ARCH)/adc_hw.c

#GPS INIT

ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_USE_LATLONG

# -DGPS_LED=2

ap.srcs += gps_ubx.c gps.c latlong.c

ap.CFLAGS += -DINFRARED -DALT_KALMAN

ap.srcs += infrared.c estimator.c

ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM

ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c

# Config for SITL simulation

include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN

sim.srcs += nav_line.c nav_survey_rectangle.c

</makefile>

</airframe>

Basically, I've tried to modify funjet1.xml to work with my airframe (2 servos and an ESC).  I've tried using the plain MJ5 A/C but it isn't working either.  I'm at a loss.

 

Second, and this may be easier when the modems are working, but I'm using a HiTec Laser 6 with a 3-position switch on the AUX channel (where the flaps knob was connected before I desoldered it).  How do I get the pulse count for each switch position to do the setup for my radio? 

 

Any help is greatly appreciated.

Alston Pike
BSME 2009
The University of Alabama
address@hidden
(706) 594-2812

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