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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 12:19:40 -0400

Thanks! Everything seems to work now. I just have a couple of problems but the CHIMU is perfectly operating.

The problems I am working on now are:

This "Failure("Pprz.values_of_payload, wrong argument: 00 08 ")" appears in the Paparazzi Center.

I have no voltage for the servos. I suppose I should do the brigde between 5V and 5V BEC. However, since this is not recommended, I would like to find any other way to do it. Any suggestion?


On Wed, Mar 21, 2012 at 11:18 AM, David Conger <address@hidden> wrote:

If you bought the modems from PPZUAV likely they are set to the default value used by Paparazzi (57k) and they are set to transparent. 
Try this in your airframe file:

<!-- Communication -->
    <subsystem name="telemetry" type="transparent"/>

In this way just the default baud rate and "transparent" (serial not API mode) communications will be use. 

About the FTDI Utility board. If the XBee is in the socket the serial connections (3-pin and 4-pin Molex) are not enabled. If you remove the XBee then they are enabled. It's either or. 

With X-CTU. Try other baud rates. Use the query button until you get a response at each of the baud rates. Quite likely 57600 will work in your case. 

If you are using XSC or 900mhz give it some time as well when launching GCS until your expectation of the black screen going away. Sometimes I see a very long delay while the XBee start communications with the 900mHz ones. XSC taking the longest. 

About the USB. Are you following this order: 
1) connect laptop/USB cable to YAPA
2) Power YAPA
3) Build, upload 
The reason is when the power is applied to the board the processor needs the 5v from the USB connection to tell it that USB is connected. If you connect USB after powering the YAPA it will boot normally and not be seen as a USB device. 

Note: When plugging in the autopilot I usually if I am unsure use: dmesg command. This will tell me details about the connections. You should see it connected as /dev/ttyUSB0. If it's /dev/ttyUSB1 or USB2 you might have other USB devices connected that already have /dev/ttyUSB0 assigned. If this is the case disconnect all other USB devices. This is the simplest way. You could also in the command line for the Paparazzi Center change the /dev/ttyUSB0 to /dev/ttyUSB1 or 2 or whatever the dmesg said the LPC boot device was. 

You are actually very close. I wish I could help with the CHIMU but I have no experience with it. Christophe does. 

Best regards,
David Conger

On Mar 21, 2012, at 7:59 AM, Jaime Rubio wrote:


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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Paparazzi-devel mailing list

Jaime Rubio
Autopilot Team Lead
Phone: 386-383-2738


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

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