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Re: [Paparazzi-devel] Yapa+CHIMU+Ublox+Xbee not able to open the Ground

From: Jaime Rubio
Subject: Re: [Paparazzi-devel] Yapa+CHIMU+Ublox+Xbee not able to open the Ground Control Station
Date: Wed, 21 Mar 2012 10:59:15 -0400


Thanks for your response. I have defined in my airframe file B9600 and xbee_api, in my Paparazzi Center "ap" as target and "Flight USB-serial @ 9600" as session. About the modems, I tried to configure them using xctu, but I had some problems. Anyway, I think they are both (the one on Yapa and the one on the FTDI utility board) at 9600. I am using Xbee09P. Is there any other way to check the baudrate of the modems? I am not sure what is exactly the "link" program when I start the groundstation. The leds of the FTDI utility board are blinking.

I have never seen any error related to MD5.

Find attached a picture of my setting hoping it helps.

Thank you very much,


On Wed, Mar 21, 2012 at 4:12 AM, Christophe De Wagter <address@hidden> wrote:
a) Getting the xbee to work is the hardest part. The baudrate of the airframe file needs to match the baudrate of the yapa-side-modem. The baudrate of the ground modem needs to match the baudrate defined by the "link" program when you start the groundstation. Then there is transparent or xbee_api. I recommend xbee-api for 2.4GHz modems. This is also selected in the airframe file AND on the ground side as flag of the link program (should look like this except sim is then link: ). Look at the leds of the FTDI utility board.Does it receive data? Then there is also another possible problem: but then I first need to answer point b)

b) This is a common confusion in paparazzi: the usb connector on yapa is ONLY for flashing new code. The computer should find a "bootloader device". When you power up the yapa/twog AFTER the usb was plugged you are in bootloader. When you power yapa BEFORE the usb is plugged, then it starts the autopilot code (which blinks some leds). 

To upload new code to yapa: "Clean"  -->  "Build"  --> plug USB  --> Power yapa after USB  --> "Upload"  --> you should see "#########"  ("......" means searching for an autopilot)

back to a): As a security measure to avoid flying with incompatible autopilot and groundstation there is a protection. An MD5 is computed over your config files and if it does not match then the ground station also stays black. However the messages (menu tools - messages) should show data and paparazzi center shows a red error about MD5. If you did not know about b) you probably did not flash either so configs should be out of sync.

Does this help?


On Wed, Mar 21, 2012 at 6:29 AM, Jaime Rubio <address@hidden> wrote:

I am having problems to run the Ground Control Station. After having reviewed the information available in internet, I have just arrived to the following results:

a) If a connect the USB cable from the laptop to the FTDI utility board with the Xbee antenna mounted on it, the Yapa (together with the CHIMU, Ublox and Xbee) seems to work (lights blinking). However, after running everything, the Ground Control Station stays grey and nothing can be done in it. Obtaining this, I had no errors compiling.

b) If a connect the USB directly to the Yapa (just with CHIMU and Ublox), no light blinks and no device is recognized. Compiling it, there is always an error regarding this device not found and looking for the available devices from the terminal no one shows up.

I please need to solve this as soon as possible.

Thanks you,

Jaime Rubio
Autopilot Team Lead

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Jaime Rubio
Autopilot Team Lead
Phone: 386-383-2738
e-mail: address@hidden

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