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Re: [Paparazzi-devel] Lost in cam and motors

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Lost in cam and motors
Date: Wed, 5 Dec 2012 00:17:59 +0100

Hi Andrius,

'param' for modules does not exist anymore, use the standard 'define' instead... apparently this information on the wiki was quite old, updated that part.

However, the cam_point module is currently only usable with the fixedwing firmware.
With the state interface and the common actuators code in the development branch (master) it should by quite easy to clean that up so it can be used for all firmwares.
Anyone got some spare time?

Cheers, Felix

On Tue, Dec 4, 2012 at 9:40 PM, Andrius Batalauskas <address@hidden> wrote:
Cam also doesn´t work. I copied the code from
to the places I think the belong to (no guarantee; see the file attached) but can´t compile now:

/home/and/papa_fresh/conf/airframes/lisa_m_hsb_cam.xml: Unexpected tag : 'PARAM'
make: *** [ap.ac_h] Error 1
make: Leaving directory `/home/and/papa_fresh'"

So I guess something is wrong with my cam module import inside my airframe. But what? I only changed servos to 5 and 7 and tried to keep the rest as documented in the wiki.

Any clues?

Am 28.11.2012 17:37, schrieb Eduardo lavratti:
you dont need <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>

i think this will disable the secure feature when the motor not start if AHRS are not lock.
Are ou sure the kill swith are disabled ?

for the cam you need some config like this in your airframe:
i not remember if this config is for cam module.
<section name="PANTILT" prefix="CAM_">
    <define name="PAN_MIN" value="-45"/>
    <define name="PAN_NEUTRAL" value="0"/>
    <define name="PAN_MAX" value="45"/>
    <define name="PAN0" value="0"/>
    <define name="TILT_MIN" value="-90"/>
    <define name="TILT_NEUTRAL" value="0"/>
    <define name="TILT_MAX" value="90"/>
    <define name="TILT0" value="0"/>
    <define name="MODE0" value="1"/>

Date: Wed, 28 Nov 2012 17:10:39 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Lost in cam and motors

Here you go...
Thx a lot!

Am 28.11.2012 16:46, schrieb Eduardo lavratti:
send you airframe file so i can help.

From: address@hidden
To: address@hidden
Date: Wed, 28 Nov 2012 14:54:08 +0100
Subject: [Paparazzi-devel] Lost in cam and motors

Good day everybody,

let me introduce myself:
My name is Andrius Batalauskas and I am an Engineering student from Bremen (Germany).

My group is working with a quadrocopter consisting of:
- Liza/M 1.0
- XBee XBP 24
- Navilock NL-651EUSB u-blox 6
- Multiplex RX-5 (35MHz)
- Graupner mx-16s Remote

I have a couple of questions:

[Problem 1]

Currently we are trying to arm the copter motors in neutral position. Means: Throttle is down. And yaw pushed to MAX. Motors shall rotate at minimum speed now. But they do not.  Later the motors shall be disarmed when throttle is down again and yaw is MIN.

Motors are working fine with USE_THROTTLE_FOR_MOTOR_ARMING. It´s just the default arming behaviour that doesn´t work.

Part of airframe.xml:

<target name="ap" board="lisa_m_1.0">
      <subsystem name="radio_control" type="ppm"/>
      <define name="RADIO_KILL_SWITCH" value="RADIO_CAM"/>
      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
      <!--define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="1"/-->
      <!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->

Not sure if AUTOPILOT_DISABLE_AHRS_KILL is in the right place here. Doesn´t seem to change anything.

Part of airframe.xml:

<radio name="mx16sHSB" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
 <channel ctl="A" function="THROTTLE" min="1120" neutral="1120" max="2000" average="0"/>
 <channel ctl="B" function="YAW"      min="2000" neutral="1498" max="1000" average="0"/>
 <channel ctl="C" function="PITCH"    min="2000" neutral="1498" max="1000" average="0"/>
 <channel ctl="D" function="ROLL"     min="2000" neutral="1498" max="1000" average="0"/>

[Problem 2]

The copter will get a cam with a 1-axis servo which counters the copter pitch.
What is the basic procedure to make it work? We are kinda lost... There seems to be a camera module: cam.xml. So just include this one? Documentation says to add some xml code to our "Aircraft file to the right place". So what is the right place?

Any ideas are welcome!

Best regards,

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