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Re: [Paparazzi-devel] Servo output
From: |
antoine drouin |
Subject: |
Re: [Paparazzi-devel] Servo output |
Date: |
Fri, 25 Nov 2011 15:27:48 +0100 |
What servos are you using ? what refresh rate are you measuring with
your scope ?
look in:
sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
with the default values, your servos should be refreshed at 40hz
(which is a common value). You may increase that value (by overriding
SERVO_HZ) if you're using high end digital servos that accept more
(like heli tail servos).
Regards
Poine
On Fri, Nov 25, 2011 at 3:06 PM, Jochen Rieger <address@hidden> wrote:
> Ok, the output follow the input values. But with the double frequence(
> measured with scope). The servos vibrate and drive to an end position......
> without any controlling a stick. The double frequence should not cause this,
> or ?
>
> -Jochen
>
> 2011/11/23 Felix Ruess <address@hidden>
>>
>> Hi Jochen,
>>
>> if you look at your command_laws, you can see clearly that you only
>> ever set the aileron and throttle servos (outputs 1,3 and 6 if you
>> start counting at one).
>>
>> Cheers, Felix
>>
>> On Wed, Nov 23, 2011 at 9:31 AM, Jochen Rieger <address@hidden>
>> wrote:
>> > 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=""ATPL2\rATRN5\rATTT80\r""/>
>> > <!-- <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
>> >
>> > _______________________________________________
>> > 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
>
>
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>
>
- [Paparazzi-devel] Servo output, Jochen Rieger, 2011/11/23
- Re: [Paparazzi-devel] Servo output, Felix Ruess, 2011/11/23
- Re: [Paparazzi-devel] Servo output, Jochen Rieger, 2011/11/25
- Re: [Paparazzi-devel] Servo output,
antoine drouin <=
- Re: [Paparazzi-devel] Servo output, Jochen Rieger, 2011/11/28
- Re: [Paparazzi-devel] Servo output, Christophe De Wagter, 2011/11/28
- Re: [Paparazzi-devel] Servo output, Jochen Rieger, 2011/11/28
- Re: [Paparazzi-devel] Servo output, Gareth Roberts, 2011/11/28
- Re: [Paparazzi-devel] Servo output, Jochen Rieger, 2011/11/29
- Re: [Paparazzi-devel] Servo output, Reto Büttner, 2011/11/29
- Re: [Paparazzi-devel] Servo output, Christophe De Wagter, 2011/11/30