RE: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43, Issue 6

From:

akochevar

Subject:

Date:

Fri, 12 Oct 2007 10:47:05 -0700

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Web-Based Email 4.11.5

Indoors it doesnt work of course, needs to see the temperature difference between the sky and the ground. Urban, well I would guess flying between buildings isnt going to work. Antoine has flown his Quadrotor using a kalman filtered IMU for stabilization. I dont believe he flew it autonomously as he couldnt get a good position solution between GPS and the IMU solution. Anything can be done of course, its just a matter of getting hardware, and writing code.

Anton

-------- Original Message --------
From: David <address@hidden>
Date: Fri, October 12, 2007 8:59 am
To: "address@hidden" <address@hidden>

Greetings Anton,
I have a lot to learn still.
How does the IR sensor do indoors? In urban environments?
I would like to create an electric heli MAV potentially.
Best,
David

Sent from my iPhone

On Oct 12, 2007, at 6:34 AM, paparazzi-devel-request@nongnu.org wrote:

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> Today's Topics:
>
> 1. Antenna tracking updates? (Tom Apker)
> 2. Tracker for antennas (Rui Costa)
> 3. Re: FBW and AP... (Alexis Lussier Desbiens)
> 4. Re: FBW and AP... (Pascal Brisset)
> 5. Re: Paparazzi-devel Digest, Vol 43, Issue 5 (David Conger)
> 6. RE: Re: Paparazzi-devel Digest, Vol 43, Issue 5
> (akochevar@miraterre.com)
> 7. AW: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43,
> Issue 5 (Ethan Arnold)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Thu, 11 Oct 2007 14:09:52 -0400
> From: "Tom Apker" <t.apker@gmail.com>
> Subject: [Paparazzi-devel] Antenna tracking updates?
> To: paparazzi-devel@nongnu.org
> Message-ID:
> <b3422d000710111109j289d437bmb5291d51fcba1804@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> Group,
>
> Has there been any progress on Jeremie Vacher's antenna tracking
> project? My lab has recently started collaborating on a much more
> ambitious project that will, hopefully, involve multiple aircraft
> flying semi-random paths. While we could use teams of undergraduates
> with yagi's, it would be nice to automate the process. Plus, we
> wouldn't want to give the local duck hunters any ideas.
>
> I have a little antenna-pointing experience myself if the project
> needs some help, although I don't want to promise much.
>
> Thanks,
>
> -Tom
>
>
>
>
> ------------------------------
>
> Message: 2
> Date: Thu, 11 Oct 2007 20:05:36 +0000
> From: "Rui Costa" <aero.rcosta@gmail.com>
> Subject: [Paparazzi-devel] Tracker for antennas
> To: paparazzi-devel@nongnu.org
> Message-ID:
> <5fa7a5600710111305h5968647an774c932929469f6@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Where can I find the contact of Jeremie Vacher, a student at ENAC? I
> need
> informations about his tracker for antennas. I would like to develop
> one.
> -------------- next part --------------
> An HTML attachment was scrubbed...
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>
> ------------------------------
>
> Message: 3
> Date: Thu, 11 Oct 2007 16:50:19 -0700
> From: "Alexis Lussier Desbiens" <alexis.lussier.desbiens@gmail.com>
> Subject: Re: [Paparazzi-devel] FBW and AP...
> To: paparazzi-devel@nongnu.org
> Message-ID:
> <1932f4090710111650p5fbfc786nacac4bc0cfae181d@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> Ok... I found that I have issue much sooner than that! I tried to
> enable the "debug" mode on the FBW by adding the line <define
> name="TELEMETRY_MODE_FBW" value="1"/> in my airframe file. But I think
> I don't put it in the right section because it is not doing
> anything...
>
> Anyway, I added the PPM signal to the "default" mode and I only get
> 0,0,0,0,0... Can someone tell me which file I should look at to make
> it work? Because right now... it doesn't seem to do much!
>
> Thanks!
>
> Alexis
>
> On 10/6/07, Pascal Brisset <pascal.brisset@free.fr> wrote:
>> Hi Alexis,
>>
>> Alexis Lussier Desbiens wrote:
>>> Hey,
>>>
>>> I got a really stupid question... how do you switch between FBW mode
>>> and AP mode in paparazzi? Is it over the serial link? With the RC
>>> controller?
>>>
>> Terminology: FBW and AP are processes, not modes. FBW handles the RC
>> reception and the servo commands while AP handles ... the rest. On a
>> dual processor board, these processes are distributed over the two
>> CPUs.
>> On a single processor board (e.g. the Tiny), these processes are only
>> logically splitted.
>> The current implemented "modes" are MANUAL, AUTO1, AUTO2, HOME and
>> NOGPS. The MANUAL mode is implemented in the FBW process. All the
>> other
>> modes require FBW and AP.
>>
>> --Pascal
>>
>>> Alexis
>>>
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> Paparazzi-devel@nongnu.org
>>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>
>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> Paparazzi-devel@nongnu.org
>> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>
>
>
> --
> http://mecano.gme.usherb.ca/~alussierdesbiens
> "De' remi facemmo ali"
>
>
>
>
> ------------------------------
>
> Message: 4
> Date: Fri, 12 Oct 2007 07:26:52 +0200
> From: Pascal Brisset <pascal.brisset@free.fr>
> Subject: Re: [Paparazzi-devel] FBW and AP...
> To: paparazzi-devel@nongnu.org
> Message-ID: <470F059C.9090906@free.fr>
> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
>
> Alexis Lussier Desbiens wrote:
>> Anyway, I added the PPM signal to the "default" mode and I only get
>> 0,0,0,0,0... Can someone tell me which file I should look at to make
>> it work? Because right now... it doesn't seem to do much!
>>
>
> 1) Check the PPM signal on the appropriate pin (PPM_In, c.f.
> http://www.recherche.enac.fr/paparazzi/wiki/index.php/Tiny)
> 2) Check that your configuration includes the appropriate RC
> configuration file. The file name must appear in the conf.xml file
> (c.f.
> http://www.recherche.enac.fr/paparazzi/wiki/index.php/Conf.xml).
> The contents of this file is described in
> http://www.recherche.enac.fr/paparazzi/wiki/index.php/Radio_Control :
> - wrong attributes of the "radio" element will prevent the decoder
> to
> recognize any PPM frame;
> - same for a wrong number or channels.
>
> A oscilloscope may help !
>
> --Pascal
>
>
>
>
> ------------------------------
>
> Message: 5
> Date: Thu, 11 Oct 2007 23:25:30 -0700
> From: "David Conger" <onefastdaddy@gmail.com>
> Subject: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43, Issue 5
> To: paparazzi-devel@nongnu.org
> Message-ID:
> <f4c1154b0710112325t38115249n42b04e03d944862@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Greetings again,
>
> I realize even after building the tiny to "fly" the plane I will
> need some
> way for the autopilot to know the attitude and pitch/yaw/roll that
> is going
> on and correct...IR sensors to me seem super crude.
>
> Has anyone seen these:
> http://www.analog.com/UploadedFiles/Data_Sheets/ADIS16350_16355.pdf
>
> Seems to have everything necessary in one place. Would this work
> with a
> Tiny? Anyone willing to hint me to the right resource to learn how I
> would
> do that? I'm assuming tiny would just need to "read" the outputs
> from this
> and simply apply the same PID logic correct?
>
> I'm guessing in short time these parts will come down in price
> considerably.
>
>
> Also, I have been lucky. Someone I work with has offered to build me 2
> Tiny's. I work for a large company that has labs with all the
> equipment. So,
> he's an awesome resource for me. Seems he found several issues with
> either
> the Mouser Parts and the Circuit Board I'll share when he debriefs
> me on
> completion of the first board. I also hear there is a company nearby
> that
> will build/fabricate circuit boards for me from designs. I will ask
> him
> about the tiny 2.1. So, a big leap forward on my end. Is the Eagletree
> design ready for fabrication that's in CVS?
>
> Best Regards,
> David Conger
> -------------- next part --------------
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> ------------------------------
>
> Message: 6
> Date: Fri, 12 Oct 2007 06:29:08 -0700
> From: akochevar@miraterre.com
> Subject: RE: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43,
> Issue 5
> To: paparazzi-devel@nongnu.org
> Message-ID:
> <20071012062908.e412a968f7f3915fb4f3361627e3fef7.05e413c97f.wbe@email.secureserver.net
> >
>
> Content-Type: text/plain; charset="us-ascii"
>
> An HTML attachment was scrubbed...
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>
> ------------------------------
>
> Message: 7
> Date: Fri, 12 Oct 2007 15:34:32 +0200
> From: "Ethan Arnold" <ethan@arnold.net>
> Subject: AW: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43,
> Issue 5
> To: <paparazzi-devel@nongnu.org>
> Message-ID: <20071012133710.1EDB22CB75B@etadar.de>
> Content-Type: text/plain; charset="us-ascii"
>
> Hehehe, good answer Anton :-)
> Yes, sometimes the simplest solutions are the best...
>
> Ethan
>
> ________________________________
>
> Von: paparazzi-devel-bounces+ethan=arnold.net@nongnu.org
> [mailto:paparazzi-devel-bounces+ethan=arnold.net@nongnu.org] Im
> Auftrag von
> akochevar@miraterre.com
> Gesendet: Freitag, 12. Oktober 2007 15:29
> An: paparazzi-devel@nongnu.org
> Betreff: RE: [Paparazzi-devel] Re: Paparazzi-devel Digest, Vol 43,
> Issue 5
>
>
> David,
> In short, no this sensor is not all you need. The reason for this
> is that
> it is an inertial based sensor. It will output both rates and
> accelerations, but give you no information on attitude. Without
> attitude
> the aircraft wont know which way is up as we like to say. People
> who use
> these sensors apply various filters, the most common of which is a
> kalman
> filter to take the data from these noisy and drifting sensors, and
> try to
> get an accurate attitude model. They are prone to getting confused
> simply
> because the new position is always based on the previous one, so
> care must
> be taken when writing the filter, and to put limits and bounds on
> the inputs
> from the sensors.
>
> In the case of hte IR, although "Crude" as you say, they output an
> angle.
> This absolute attitude means the plane can not get confused of 1
> blip of
> data is bad, because it will just use the next. These sensors have
> proved
> they work over water, in deep cold, and even in snow I think(iceland
> team
> chime in here). So although crude, the proof is in the demonstration
> success. Look at the record of MAV competitions the last 3 years
> and you
> will see its a IR based airplane on top almost every time. Not bad
> for some
> FMA hobby crap huh?
>
> Anton
>
>
> -------- Original Message --------
> From: "David Conger" <onefastdaddy@gmail.com>
> Date: Thu, October 11, 2007 11:25 pm
> To: paparazzi-devel@nongnu.org
>
> Greetings again,
>
> I realize even after building the tiny to "fly" the plane I will
> need some way for the autopilot to know the attitude and pitch/yaw/
> roll that
> is going on and correct...IR sensors to me seem super crude.
>
> Has anyone seen these:
> http://www.analog.com/UploadedFiles/Data_Sheets/ADIS16350_16355.pdf
>
> Seems to have everything necessary in one place. Would this work
> with a Tiny? Anyone willing to hint me to the right resource to
> learn how I
> would do that? I'm assuming tiny would just need to "read" the
> outputs from
> this and simply apply the same PID logic correct?
>
> I'm guessing in short time these parts will come down in price
> considerably.
>
> Also, I have been lucky. Someone I work with has offered to build
> me
> 2 Tiny's. I work for a large company that has labs with all the
> equipment.
> So, he's an awesome resource for me. Seems he found several issues
> with
> either the Mouser Parts and the Circuit Board I'll share when he
> debriefs me
> on completion of the first board. I also hear there is a company
> nearby that
> will build/fabricate circuit boards for me from designs. I will ask
> him
> about the tiny 2.1. So, a big leap forward on my end. Is the Eagletree
> design ready for fabrication that's in CVS?
>
> Best Regards,
> David Conger
>
>
>
> ________________________________
>
> _______________________________________________
> Paparazzi-devel mailing list
> Paparazzi-devel@nongnu.org
> <http://email.secureserver.net/pcompose.php?aEmlPart=0&type=reply&folder=INB
> OX&uid=1494#Compose>
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
>
>
>
>
> ------------------------------
>
> _______________________________________________
> Paparazzi-devel mailing list
> Paparazzi-devel@nongnu.org
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
> End of Paparazzi-devel Digest, Vol 43, Issue 6
> **********************************************

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