Re: [Paparazzi-devel] PPM Encoder and Lisa/L

[Felix Ruess]

I haven't use ppm input on Lisa/L or Lisa/M so far... but at least I
can't spot any obvious mistakes in the airframe file....

On Fri, Nov 18, 2011 at 2:43 PM, Jochen Rieger <address@hidden> wrote:
> Ah okay thanks, the warning is gone.
>
>
> The whole  airframe file:
>
> <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
>
> <!--
>     Lisa + Aspirin + XBee
> -->
>
> <airframe name="Yapa v1">
>
>   <servos>
>     <servo name="THROTTLE" no="2" min="1000" neutral="1000" max="2000"/>
>     <servo name="AILERON_LEFT" no="0" min="1000" neutral="1500" max="2000"/>
>     <servo name="AILERON_RIGHT" no="5" min="2000" neutral="1500"
> max="1000"/>
>     <servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
>     <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
>   </servos>
>
>   <commands>
>     <axis name="THROTTLE" failsafe_value="0"/>
>     <axis name="ROLL" failsafe_value="0"/>
>     <axis name="PITCH" failsafe_value="0"/>
>     <axis name="YAW"      failsafe_value="0"/>
>     <axis name="BRAKE" failsafe_value="9600"/>    <!-- both elerons up as
> butterfly brake ? -->
>   </commands>
>
>   <rc_commands>
>     <set command="THROTTLE" value="@THROTTLE"/>
>     <set command="ROLL" value="@ROLL"/>
>     <set command="PITCH" value="@PITCH"/>
>     <set command="YAW"      value="@YAW"/>
>     <set command="BRAKE" value="@YAW"/>
>   </rc_commands>
>
>   <command_laws>
>     <set servo="AILERON_LEFT" value="@ROLL"/>
>     <set servo="AILERON_RIGHT" value="@ROLL"/>
>     <set servo="THROTTLE" value="@THROTTLE"/>
>     <set servo="ELEVATOR" value="@PITCH"/>
>   </command_laws>
>
>   <!-- Local magnetic field -->
>   <section name="AHRS" prefix="AHRS_" >
>     <define name="H_X" value="0.51562740288882" />
>     <define name="H_Y" value="-0.05707735220832" />
>     <define name="H_Z" value="0.85490967783446" />
>   </section>
>
>   <section name="IMU" prefix="IMU_">
>     <!-- Calibration Neutral -->
>     <define name="GYRO_P_NEUTRAL" value="0"/>
>     <define name="GYRO_Q_NEUTRAL" value="0"/>
>     <define name="GYRO_R_NEUTRAL" value="0"/>
>
>     <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec /
> 12bit FRAC: 4096 / 828 -->
>     <define name="GYRO_P_SENS" value="4.947" integer="16"/>
>     <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
>     <define name="GYRO_R_SENS" value="4.947" integer="16"/>
>
>     <define name="GYRO_P_Q" value="0."/>
>     <define name="GYRO_P_R" value="0"/>
>     <define name="GYRO_Q_P" value="0."/>
>     <define name="GYRO_Q_R" value="0."/>
>     <define name="GYRO_R_P" value="0."/>
>     <define name="GYRO_R_Q" value="0."/>
>
>     <define name="GYRO_P_SIGN" value="1"/>
>     <define name="GYRO_Q_SIGN" value="1"/>
>     <define name="GYRO_R_SIGN" value="1"/>
>
>     <define name="ACCEL_X_NEUTRAL" value="-14"/>
>     <define name="ACCEL_Y_NEUTRAL" value="0"/>
>     <define name="ACCEL_Z_NEUTRAL" value="0"/>
>
>     <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g =
> 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y
> -->
>     <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
>     <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
>     <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
>
>     <define name="ACCEL_X_SIGN" value="1"/>
>     <define name="ACCEL_Y_SIGN" value="1"/>
>     <define name="ACCEL_Z_SIGN" value="1"/>
>
>     <define name="MAG_X_NEUTRAL" value="0"/>
>     <define name="MAG_Y_NEUTRAL" value="0"/>
>     <define name="MAG_Z_NEUTRAL" value="0"/>
>
>     <define name="MAG_X_SENS" value="1" integer="16"/>
>     <define name="MAG_Y_SENS" value="1" integer="16"/>
>     <define name="MAG_Z_SENS" value="1" integer="16"/>
>
>     <define name="MAG_X_SIGN" value="1"/>
>     <define name="MAG_Y_SIGN" value="1"/>
>     <define name="MAG_Z_SIGN" value="1"/>
>
>     <define name="BODY_TO_IMU_PHI" value="0"/>
>     <define name="BODY_TO_IMU_THETA" value="0"/>
>     <define name="BODY_TO_IMU_PSI" value="0"/>
>   </section>
>
>   <section name="INS" prefix="INS_">
>     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
>   </section>
>
>   <section name="AUTO1" prefix="AUTO1_">
>     <define name="MAX_ROLL" value="0.7"/>
>     <define name="MAX_PITCH" value="0.7"/>
>   </section>
>
>   <section name="BAT">
>     <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
>
>     <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
>     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
>     <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
>   </section>
>
>   <section name="MISC">
>     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
>     <define name="CARROT" value="5." unit="s"/>
>     <define name="CONTROL_RATE" value="60" unit="Hz"/>
>     <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
> <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
>     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
>
>     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
>
>     <define name="GLIDE_AIRSPEED" value="10"/>
>     <define name="GLIDE_VSPEED" value="3."/>
>     <define name="GLIDE_PITCH" value="45" unit="deg"/>
>   </section>
>
>   <section name="VERTICAL CONTROL" prefix="V_CTL_">
>     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
>     <!-- outer loop proportional gain -->
>     <define name="ALTITUDE_PGAIN" value="-0.03"/>
>     <!-- outer loop saturation -->
>     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
>
>     <!-- auto throttle inner loop -->
>     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
>     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
>     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
>     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
>     <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
>     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
> unit="%/(m/s)"/>
>     <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
>     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
>     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
>
>     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
>   </section>
>
>   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
>     <define name="COURSE_PGAIN" value="-1.20000004768"/>
>     <define name="COURSE_DGAIN" value="0.3"/>
>     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
>
>     <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
>     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
>     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
>
>     <define name="PITCH_PGAIN" value="-12000."/>
>     <define name="PITCH_DGAIN" value="1.5"/>
>
>     <define name="ELEVATOR_OF_ROLL" value="1000."/>
>
>     <define name="ROLL_SLEW" value="1."/>
>
>     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
>     <define name="ROLL_RATE_GAIN" value="0."/>
>   </section>
>
>   <section name="AGGRESSIVE" prefix="AGR_">
>     <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
> Aggressive Climb CANNOT BE ZERO!!-->
>     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
> Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
>     <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive
> Climb -->
>     <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb
> -->
>     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
> Decent -->
>     <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
> Decent -->
>     <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
> Altitude Error Equal to Start Altitude -->
>     <define name="DESCENT_NAV_RATIO" value="1.0"/>
>   </section>
>
>   <section name="FAILSAFE" prefix="FAILSAFE_">
>     <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
>     <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
>     <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
>
>     <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
>     <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
>     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
>   </section>
>
>   <section name="DIGITAL_CAMERA" prefix="DC_">
>     <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6"
> unit="quarter_second"/>
>     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
>   </section>
>
>
>   <modules>
> <!--
>     <load name="light.xml">
>       <define name="LIGHT_LED_STROBE" value="3"/>
>       <define name="LIGHT_LED_NAV" value="2"/>
>       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
>       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
>     </load>
>     -->
>     <!--    <load name="digital_cam_i2c.xml"/>  -->
>
>  <!--    <load name="ins_ppzuavimu.xml" /> -->
>
> <!--
>     <load name="digital_cam.xml" >
>       <define name="DC_SHUTTER_LED" value="3"/>
>     </load>
>     -->
>   </modules>
>
>   <firmware name="fixedwing">
>
>     <target name="ap" board="lisa_l_1.1"> <!-- board="tiny_2.11"> -->
>       <define name="STRONG_WIND"/>
>       <define name="WIND_INFO"/>
>       <define name="WIND_INFO_RET"/>
>
>       <configure name="PERIODIC_FREQUENCY" value="120"/>
>       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
>       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
>       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
>
>       <configure name="AHRS_ALIGNER_LED" value="3"/>
>       <configure name="CPU_LED" value="3"/>
>     </target>
>     <target name="sim" board="pc"/>
>
>     <define name="AGR_CLIMB"/>
>     <define name="LOITER_TRIM"/>
>     <define name="ALT_KALMAN"/>
>
>     <!-- Sensors -->
>     <!--
>     <subsystem name="ahrs" type="int_cmpl_quat">
>       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
>     </subsystem>
>     <subsystem name="imu" type="aspirin_i2c"/>
>     -->
>     <subsystem name="imu" type="aspirin"/>
>     <subsystem name="ahrs" type="float_dcm">
> <!--      <define name="USE_MAGNETOMETER" /> -->
>     </subsystem>
>
>
>     <subsystem name="radio_control" type="ppm"/>
>
>     <!-- Communication -->
>     <subsystem name="telemetry"           type="transparent">
>     <configure name="MODEM_BAUD"          value="B57600"/>
>     <configure name="MODEM_PORT"          value="UART3"/>
>     </subsystem>
>
>     <!-- Actuators -->
>     <subsystem name="control"/>
>     <!-- Sensors -->
>     <subsystem name="navigation"/>
>     <subsystem name="gps"         type="nmea">
>     <configure name="GPS_PORT"          value="UART2"/>
>     <configure name="GPS_BAUD"          value="B9600"/>
>     </subsystem>
>
>
> </firmware>
>
>
> </airframe>
>
> -Jochen
>
>
> 2011/11/18 Felix Ruess <address@hidden>
>>
>> Hi Jochen,
>>
>> > Hmm ok thanks. Perhaps, can in the airframe file be a mistake?
>>
>> Could be, but we can hardly tell without knowing your configuration...
>>
>> > Because while building the software follow warning is shown:
>> >
>> > CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/main_fbw.o
>> > firmwares/fixedwing/main_fbw.c: In function 'event_task_fbw':
>> > firmwares/fixedwing/main_fbw.c:153: warning: array subscript is above
>> > array
>> > bounds
>>
>> This is unrelated to the ppm input... (well, it will probably still
>> write values somewhere it shouldn't!)
>>
>> > <servos>
>> >     <servo name="THROTTLE" no="3" min="1000" neutral="1000" max="2000"/>
>> >     <servo name="AILERON_LEFT" no="1" min="1000" neutral="1500"
>> > max="2000"/>
>> >     <servo name="AILERON_RIGHT" no="6" min="2000" neutral="1500"
>> > max="1000"/>
>> >     <servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
>> >     <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
>> >   </servos>
>>
>> The reason for above error is that you have set one servo no="6".
>> Since indexing starts at zero, this would be servo number 7 and unless
>> you added the define USE_SERVOS_7AND8 it won't work!
>>
>>
>> I'm not sure why in the picture of Lisa/L the servos are counted from
>> 1 up, instead from 0.
>> Same actually goes for Lisa/M, there the servos in the picture are
>> counted from 1, while you have to put them in your airframe file
>> starting with 0...
>> Looks like an error to me.
>>
>> Cheers, Felix
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
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