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

[Felix Ruess]

Pin PA1 is used for ppm input, so that is correct... but maybe R48 is
not populated?

On Fri, Nov 18, 2011 at 3:45 PM, Jochen Rieger <address@hidden> wrote:
> It is possible that the Trig. pin at UART1 isn t the PPM input? Because in
> these shematics
> I can t read this:
>
> http://paparazzi.enac.fr/wiki_images/LisaL_v1_1_schematic_1.png
>
> http://paparazzi.enac.fr/wiki_images/LisaL_v1_1_schematic_3.png
>
>
> Do you connect Lisa with an Spektrum receiver?
>
>
>
> 2011/11/18 Felix Ruess <address@hidden>
>>
>> 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
>> >
>> >
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >
>> >
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>