[Paparazzi-devel] Re: Futaba 5 channel radio showing six PPM

[Paul Cox]

Thanks for the suggestion, I looked at pin 8 and found the pulses. I tried to look at that pin last night but when I did the servos plugged into the receiver went nuts so somehow my probing it messed it up. Not sure why tonight it's working better.

Now that I have some working hardware, I'm trying to get the board communicating with the GCS. Last night I following the instructions at http://paparazzi.enac.fr/wiki/Compiling which showed communication had established successfully. Apparently the default setup uses 57.6kbps over the GPS serial port  (otherwise known as the download header) to relay messages to the GCS, as that was the port I had hooked up and everything worked. After that I compiled the demo (http://paparazzi.enac.fr/wiki/Using_demo_programs_in_sw/airborne-tiny2.1 - to blink LEDs) which also worked. Tonight I wanted to replace the demo code with autopilot code, so I rebuilt with "make AIRCRAFT=MJ5 ap.upload (etc)" but my builds failed (gyro.c complaining about ADC_3 undeclared and lots of warnings that LED_6_PIN is getting redefined).  After using make with "clean_ac" I was able to get the code to build and upload to the Tiny. But what I don't understand is that the GCS now communicates with Tiny over the telemetry serial port (the one labeled "serial" on the PCB) at 9600bps. I'm glad it does since now I can hook up my XBee Pro, but I'd really like to understand why this change occurred when I haven't done anything to any source code or configuration files; only rebuilt. Maybe I rebuilt with slighly different target names? Any pointers would be appreciated.

Also, what is a good way to tell if Tiny is seeing my receiver PPM and interpreting it correctly? Is there something I can look at in the GCS (beyond the "radio command status" color indicator which right now shows "NONE"-- although if I power cycle Tiny I see "OK" then "LOST" very briefly)  or should I enable something in the airborne code to spit out debug messages over the serial port or what?

Sorry for the newbie type questions, I'm sure most of this will become more self evident as I start reading the code.

Thanks,

Paul