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Re: [Paparazzi-devel] Paparazzi Hardware in loop Simulation

From: Stephen Dwyer
Subject: Re: [Paparazzi-devel] Paparazzi Hardware in loop Simulation
Date: Fri, 2 Mar 2012 09:12:58 -0700


With respect to measuring RPM, I was originally going to create a
module to do this, but haven't gotten around to it yet (hopefully
before long). However, it should be easy to create one. Take a look at
the following files in dev branch for an example:
(and maybe conf/modules/pwm_meas.xml)

In the pwm input files you can access either period or duty
measurements, configured for triggering on either rising or falling
edges. You would have to write a short module similar to xtend_rssi,
you will just need a nice pulse input to the correct capture pin on
the tiny/twog. Make sure to consider the voltage of the input and any
voltage dividers on the boards.

I don't know how the Eagle Tree sensor works, but it may just be some
signal conditioning, or it might be digital. In the case that it is
digital, you will need to explore a different module option, if it
just outputs pulses, you could use it with the above described idea.

Hopefully that helps.

-Stephen Dwyer

On Fri, Mar 2, 2012 at 3:36 AM, GURUGANESH R <address@hidden> wrote:
> Hi,
>   Thanks for your reply....I have again few doubts
> 1) Please tell me how to do on board data logging when I am using paparazzi
> TWOG Autopilot board on my Micro Aerial Vehicle? I believe people might have
> already done this exercise. I know the Umarim board comes with a data logger
> but In case if i am using any of the tiny board what are the feasible
> options for on board data logging? Anybody please help me out.
> 2) I wanted to measure the motor/Propeller RPM, from the Internet I found
> Eagle tree has one Brush less RPM sensor to measure the motor/Propeller RPM,
> Does paparazzi board has provision to accept this RPM sensor measurement as
> Input? If yes how to do that?
> Thanks and Regards
> Guruganesh
> On Tue, Feb 14, 2012 at 3:11 AM, Stephen Dwyer <address@hidden> wrote:
>> Hello,
>> As no one else has answered this, I will do my best (others will
>> undoubtedly correct me...)
>> I don't think anybody has used HWIL for quite some time on Paparazzi
>> (at least not what is currently in the repository).
>> I think you will definitely have to rewrite a considerable portion of
>> the code if you are using anything other than IR and GPS. There has
>> been considerable code refactoring and you may have to start HWIL
>> support from scratch to do it properly (I am not one to ask about
>> this). I don't think there is any provision for measuring analog
>> output of actuators rather than just send the current actuator
>> commands back via datalink (which in my mind makes rather more sense).
>> There has been work done in the past to create an SD datalogger for
>> the LPC21 architecture, but this used a separate processor (like
>> another TWOG) due to the processor intensive nature of writing to the
>> SD card with SPI. Hopefully someone who has actually done this can
>> elaborate further.
>> Hope that helps a little.
>> -Stephen
>> On Tue, Jan 31, 2012 at 3:24 AM, GURUGANESH R <address@hidden>
>> wrote:
>> > Dear Paparazzi users,
>> >     I am sending this email again and again, sorry for trouble....We are
>> > team of scientist from an aerospace lab in India. We are working in the
>> > TWOG
>> > paparazzi autopilot board for quite some time. We wanted to connect the
>> > paparazzi board with the host simulator and run the Hardware in the loop
>> > simulation. From the wiki page of paparazzi, we have learnt that we can
>> > connect the AP board through the USB cable and commands computed by the
>> > autopilot are sent to the flight model which sends back simulated values
>> > of
>> > the sensors output (e.g infrared and GPS) back to the AP board. In that
>> > case
>> > I have certain doubts.
>> >
>> > 1) Is it possible to send the following  data V, alpha, beta, p, q, r,
>> > phi,
>> > psi and theta from the flight model to the autopilot board along with
>> > the
>> > infrared sensor and GPS data.
>> > 2) If so how to do it, where in the source code we need to make changes.
>> > 3) Instead of simulated actuators can we have physical actuators in the
>> > HITL. Any provision is made in the paparazzi HITL code to acquire the
>> > analog
>> > voltage corresponding to the  actuator output.
>> > 4) Is it possible to connect an SD card to log the data from the
>> > autopilot
>> > board through the SPI bus which is available in the board. if so how
>> > many
>> > data we can log and how do we decide the rate of logging.
>> >
>> > These are all my doubts.It would be great help if anyone help in
>> > troubleshooting this problem. Please write to me if you have answers to
>> > any
>> > one of my doubts.
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> >
>> >
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
> --
> Thanks and Regards
> R.Guruganesh
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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