Re: [Paparazzi-devel] Tiny 2 and IR, gyro settings

[Pascal Brisset]

Hi Uttam,

Uttam Chandrashekhar wrote:
> Hi Pascal,
>
> Thanks you! I didn't know the wiki was updated, I should have looked 
> before asking. Sorry! It's mostly all clear now, only one question. 
> What does horizontal sensor tilted/aligned mean?
"Aligned" means that the axis (ir1, ir2) of the horizontal sensor 
correspond to the axis of the aircraft (lateral, longitudinal). It is 
the way it is mounted on our twinjet: 
http://paparazzi.enac.fr/wiki_images/Ricou.jpg
"Tilted" means that the axis of the sensor are 45° from the axis of the 
aircraft. For example on our Funjet (and most of the Paparazzi 
aircraft): http://paparazzi.enac.fr/wiki_images/Tiny_v2_1_Funjet.jpg.

> What is the optimal position to place the horizontal and vertical sensors?
As close as possible to the board to reduce the noise from the wires. 
But usually strong geometrical and mechanical constraints come from the 
airframe.
If you design your own airframe, you have to think about it as soon as 
possible.

--Pascal

> Regarding the telemetry. I will first try using the serial protocol 
> and a direct cable connection ( Computer USB->Serial on Tiny??? )? I 
> have the maxstream modems too.
> computacenter
> -Uttam
>
>
> ----- Original Message ----
> From: Pascal Brisset <address@hidden>
> To: address@hidden
> Sent: Tuesday, January 15, 2008 1:46:30 AM
> Subject: Re: [Paparazzi-devel] Tiny 2 and IR, gyro settings
>
> Information about the infrared configuration has recently been updated
> in the wiki:
>
> http://paparazzi.enac.fr/wiki/index.php/Airframe_Configuration#Infrared
>
> You should find there some answers to your questions.
> http://paparazzi.enac.fr/wiki_images/Ricou.jpg
> Your next step probably is to set the telemetry. You can use a cable
> (USB/serial 3.3V converter) to start.
>
> --Pascal
>
> Uttam Chandrashekhar wrote:
> >
> > Hi guys,
> >
> > I got the IR boards working, I replaced the low drift opamps in a
> > static free environment ( Wrist strap and mat )! On the XY board,
> > neutrals across the 2 axis vary a bit, one says 1.9 V and the other
> > says 2.1V. Is this OK? I have some questions regarding the IR sensors
> > and Gyro sensor settings in the funjet1.xml file. Since this will be
> > installed in a different plane, I'll have to tweak the settings.
> >
> >  <section name="INFRARED" prefix="IR_">
> >    <define name="ADC_IR1_NEUTRAL" value="512"/>
> >    <define name="ADC_IR2_NEUTRAL" value="512"/>
> >    <define name="ADC_TOP_NEUTRAL" value="512"/>
> >
> >    <define name="LATERAL_CORRECTION" value="1."/>
> >   
> >  <define name="LONGITUDINAL_CORRECTION" value="1."/>
> >    <define name="VERTICAL_CORRECTION" value="1.5"/>
> >
> >    <define name="HORIZ_SENSOR_TILTED" value="1"/>
> >    <define name="IR2_SIGN" value="-1"/>
> >    <define name="TOP_SIGN" value="-1"/>
> >
> >    <define name="ROLL_NEUTRAL_DEFAULT" value="-2.5" unit="deg"/>
> >    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
> >
> >    <define name="CORRECTION_UP" value="1."/>
> >    <define name="CORRECTION_DOWN" value="1."/>
> >    <define name="CORRECTION_LEFT"
> >  value="1."/>
> >    <define name="CORRECTION_RIGHT" value="1."/>
> >  </section>
> >
> > In the above bit of code, what does the Neutral value of "512"
> > signify? Why is it 512?
> >
> > What do the correction values mean? What does the IRx_SIGN signify?
> > What do the other variables mean ( roll and pitch neutral def, and the
> > up down left right corrections )?
> >
> > Since the IR sensors are working OK, what would be by next step? Can I
> > go ahead and plug it into the Tiny and flash the APcode ( I replaced
> > the ap code with the tunnel for GPS prog )?
> >
> > -Thanks, you guys are the BEST!
> > -Uttam
> >
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