[Paparazzi-devel] Servo output

[Jochen Rieger]

Hello, i have some problems with servo outputs. I have Lisa/L and PPM encoder board.

The PPM message in GCS show follow values.

Ch 1: min 8796 and max 15395

In Radio control file is written that the time unit is hardware dependent. Which crystal have the Lisa/L board. Sadly, I cant open the eagle files. Or, where can i find this in the code? I didn t find this. 


Beside this, i have problems with the servo output. In the actuators message have only the ch1., ch. 3 and ch. 6 values. The others channels are zero.
Where is the mistake in the airframe oder radio file?

Airframe:

<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!--
    Lisa + Aspirin + XBee
-->

<airframe name="Yapa v1">

  <servos>
    <servo name="THROTTLE"      no="2" min="1200" neutral="1200" max="1900"/>
    <servo name="AILERON_LEFT"  no="0" min="1100" neutral="1500" max="1900"/>
    <servo name="AILERON_RIGHT" no="5" min="1800" neutral="1450" max="1100"/>
    <servo name="ELEVATOR"      no="1" min="1150" neutral="1550" max="1950"/>
    <servo name="RUDDER"        no="3" min="1050" neutral="1450" max="1850"/>
  </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"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="YAW"      value="@YAW"/>
  </rc_commands>

  <command_laws>
    <set servo="AILERON_LEFT" value="@ROLL"/>
    <set servo="AILERON_RIGHT" value="@ROLL"/>
    <set servo="THROTTLE" value="@THROTTLE"/>
  </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="B38400"/>
    <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>

Radio file: 

<?xml version="1.0"?>
<!-- $Id$
--
-- (c) 2003 Pascal Brisset, Antoine Drouin
--
-- This file is part of paparazzi.
--
-- paparazzi is free software; you can redistribute it and/or modify
-- it under the terms of the GNU General Public License as published by
-- the Free Software Foundation; either version 2, or (at your option)
-- any later version.
--
-- paparazzi is distributed in the hope that it will be useful,
-- but WITHOUT ANY WARRANTY; without even the implied warranty of
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-- GNU General Public License for more details.
--
-- You should have received a copy of the GNU General Public License
-- along with paparazzi; see the file COPYING.  If not, write to
-- the Free Software Foundation, 59 Temple Place - Suite 330,
-- Boston, MA 02111-1307, USA.
-->

<!--
-- Attributes of root (Radio) tag :
-- name: name of RC
-- data_min: min width of a pulse to be considered as a data pulse
-- data_max: max width of a pulse to be considered as a data pulse
-- sync_min: min width of a pulse to be considered as a synchro pulse
-- sync_max: max width of a pulse to be considered as a synchro pulse
-- min, max and sync are expressed in micro-seconds
-->

<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- function: logical command
-- average: channel filtered through several frames (for discrete commands)
-- min: minimum pulse length (micro-seconds)
-- max: maximum pulse length (micro-seconds)
-- neutral: neutral pulse length (micro-seconds)
-- Note: a command may be reversed by exchanging min and max values
-->

<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Futaba_PPM_encoder" data_min="750" data_max="2250" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
 <channel ctl="1" function="ROLL"     min="1100" neutral="1500" max="1900" average="0"/>
 <channel ctl="2" function="PITCH"    min="1150" neutral="1550" max="1950" average="0"/>
 <channel ctl="3" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>
 <channel ctl="4" function="YAW"      min="1050" neutral="1450" max="1850" average="0"/>
 <channel ctl="5" function="MODE"     min="2050" neutral="1500" max="950" average="1"/> 
 <channel ctl="6" function="UNUSED"   min="900" neutral="1500" max="2100" average="0"/> 
 <channel ctl="7" function="UNUSEDA"  min="900" neutral="1500" max="2100" average="0"/>
 <channel ctl="8" function="UNUSEDB"  min="900" neutral="1500" max="2100" average="0"/>
</radio>


Regards.
Jochen