Re: [Paparazzi-devel] Problem with FTDI ground station

On Mon, Aug 18, 2014 at 1:26 PM, Nicolas Quendez <address@hidden> wrote:

My airframe file seems to be in transparent mode (see the whole file at the bottom).

For the pinout on FTDI board, yes, green Rx, and Brown Tx (and then black - ). On LisaM, green is going to Tx and Brown to Rx, so (brown, green, empty, black), following the drawing :

<!DOCTYPE airframe SYSTEM "../airframe.dtd">



<airframe name="Bixler LisaM 2.0">

<firmware name="fixedwing">
<target name="ap" board="lisa_m_2.0">


<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"/>
</target>



<define name="USE_MAGNETOMETER" value="FALSE"/>

<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>

<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/>

<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware>



<servos>
<servo name="THROTTLE" no="1" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="2" min="1100" neutral="1515" max="1900"/>

<servo name="RUDDER" no="3" min="950" neutral="1440" max="2050"/>
<servo name="AILERON_RIGHT" no="4" min="1000" neutral="1500" max="2000"/>

<servo name="AILERON_LEFT" no="5" min="1000" neutral="1500" max="2000"/>
</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="2000"/>
</commands>

<rc_commands>
<set command="ROLL" value="@ROLL"/>

<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="YAW" value="@YAW"/>

</rc_commands>

<section name="MIXER">
<define name="COMBI_SWITCH" value="0.3"/>
</section>

<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>

<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">

<define name="MAX_ROLL" value="50" unit="deg"/>
<define name="MAX_PITCH" value="40" unit="deg"/>
</section>

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>

<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</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="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>

<define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>

</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>

<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>

</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>


<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>


<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/>

<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>

<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>

<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.03"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>

<define name="AUTO_PITCH_PGAIN" value="0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="25" unit="deg"/>

<define name="AUTO_PITCH_MIN_PITCH" value="-25" unit="deg"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.4"/>

<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>

<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>

<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
<define name="ROLL_RATE_GAIN" value="200"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>

<define name="DEFAULT_ROLL" value="15" unit="deg"/>
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
<define name="HOME_RADIUS" value="90" unit="m"/>

</section>

</airframe>
Le 18 août 2014 à 15:54, David Conger <address@hidden> a écrit :
What is your airframe file like? Is the telemetry "xbee_api" or "transparent"?

FWIW: the wire from FTDIUtil I made. The pinout is:

Black = (-)
Green = Rx

Brown = Tx

Unsure about pinout for that Lisa/M.

-David
On Mon, Aug 18, 2014 at 11:44 AM, Nicolas Quendez <address@hidden> wrote:
Hi,

After few weeks of different trials, I do not succeed in making the serial link works. In CGS, the screen is always writing « waiting for telemetry ».

Neither with the Xbee modems nor with direct link between the AP and the FTDI board.

If someone could make me understand what I did wrong, thanks in advance...

In direct link between AP (Lisa M 2.0) and FTDI board (PPZUAV)

- The connections (Rx to Tx, Tx to Rx, ground to ground ; AP powered with 5V ; FTDI board connected by USB to the computer), it seems to me connections are OK according to wiki and FTDI board schematic :

<FTDI_LisaM.jpg>
- I do not know if there must be specific files to load ?
For now, I use Bixler_lisa_m_2.xml ; basic.xml for navigation ; fixed wing_basic.xml ; ctl_basic.xml ; ins_neutral.xml ; cockpitMM.xml ; and I have tried different xml files for the telemetry (default_fixedwing_imu.xml , xbee868.xml ).

For the session, I use address@hidden (and tried other rates).

- In the console, it runs the following without error :
RUN '/home/nicolas/paparazzi/sw/ground_segment/tmtc/link -d /dev/ttyUSB0 -transport xbee -s 57600'

RUN '/home/nicolas/paparazzi/sw/ground_segment/tmtc/server '
RUN '/home/nicolas/paparazzi/sw/ground_segment/cockpit/gcs '

and GCS is opening, but everything blank, with « waiting for telemetry ».

My GPS is connected, but indoor so probably no signal, but I imagine that all the IMU signals should be transmitted, no ?

Thanks in advance
Best regards
Nicolas
Le 27 juil. 2014 à 17:37, Nicolas Quendez <address@hidden> a écrit :
Thanks Gautier,

Indeed, I missed the Udev rules copy to the good place, I will be more attentive next time !

So, for now, no more « failure » when I launch GCS. But still the black screen with « waiting for telemetry ».

In XCTU (windows), from ground station modem, it detects the remote autopilot modem (when Lisa M powered), and I can see that the autopilot sends continuously some packets to the ground station modem. So informations probably go from the AP to the ground station modem well. But I suspect my Paparazzi configuration still not good because it seems it cannot read the informations and show them in GCS…

I continue my exploration, any advices welcome !
Thanks for the support
Best regards
Nicolas
Le 25 juil. 2014 à 18:14, Gautier Hattenberger <address@hidden> a écrit :
Hi,

Did you check this pages ? :
http://wiki.paparazziuav.org/wiki/Installation/Linux#Udev_rules
http://wiki.paparazziuav.org/wiki/Installation/Linux#No_access_rights_for_USB_devices

Gautier

Le 24/07/2014 14:52, Nicolas Quendez a écrit :
Hi everybody,

I just begin to manipulate Paparazzi hardware and software.

For now :

- I succeed in working with flight plan simulation

- I succeed in uploading software into my Lisa M AP

- I succeed into programming my Xbee modules with XCTU (windows) with the PPZUAV FDTI utility board.

BUT :

when I plug the FTDI board with xbee module (coordinator) by USB on my ubuntu computer, I have the following error when starting a session :

Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0) ») :

RUN '/home/nicolas/paparazzi/sw/ground_segment/tmtc/link -d /dev/ttyUSB0 -transport xbee -s 57600'

Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")

Broadcasting on network 127.255.255.255, port 2010

Read Socket : Connection reset by peer

FAILED '/home/nicolas/paparazzi/sw/ground_segment/tmtc/link' with code 1

I have checked with dmesg that /dev/ttyUSB0 seems to be the good place for the board.

I have added the current user to the modems group as explained in the FAQ (http://wiki.paparazziuav.org/wiki/FAQ).

I made the xbee module set as coordinator, with baud rate set to 57000

My Xbee is a 868 LP 80 K modem.

On the PPZUAV FTDI board the red led is ON.

The green led is ON (but not flashing).

Have you any idea of my mistake, or configuration that I did not do ? Are there some drivers to install for the FTDI board, or a configuration to put into the xml files ?

Thanks in advance

Best regards

Nicolas

Hardware :

<Pièce jointe.jpeg>

XCTU configuration :

<Pièce jointe.gif>
_______________________________________________
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
_______________________________________________
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
--
address@hidden
http://www.ppzuav.com
_______________________________________________
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

From:	alonso acuña
Subject:	Re: [Paparazzi-devel] Problem with FTDI ground station
Date:	Tue, 19 Aug 2014 09:06:09 -0600