Re: [Paparazzi-devel] Custom GCS

[Christophe De Wagter]

Inspired by 

 -the App-Server which needs to run on the laptop and basically can tell the app everything the UAV can do, 

 -and the new defines from summer2013 with block names and setting name defines onboard

 -and the improving array of android apps

 -and the paparazzi navigation modules

we are now making a (mavlink) module in paparazzi to further investigate where "things are going" on the long run. This module already has besides telemetry like many did before also all settings names etc... it usually got stuck with mavlink and paparazzi at the mission elements, but by adding 3 new mavlink messages we can also report the list of blocks and their names and activate them.

If new GCS efforts are started which need to download UAV capabilities/settings/waypoints just like mavlink and appserver do, it might be good to use this paparazzi-mission-capable variant of mavlink... until who knows more groundstations become mission-capable.

Ideally the paparazzi-app and app-server would also use this protocol.

-Christophe 

On Sat, Sep 13, 2014 at 11:31 AM, Felix Ruess <address@hidden> wrote:

The server sends the waypoints of aicrafts on the ivy ground network periodically so that if a new agent connects on the ground network it automatically gets all current waypoints.

On Sat, Sep 13, 2014 at 6:32 AM, Eduardo lavratti <address@hidden> wrote:

Hi felix, the code work fine but i have some question about messages sent by server.

I removed WP_MOVED from telemtry and now the ap not send it periodically.

When i move the waypoint using ppzgcs the ap send the WP_MOVED and after this the server start to send continuously the message WAYPOINT_MOVED as you can see bellow.

Way this occur ? is this correct ?
If i change 10 waypoint the server send 10 WAYPOINT_MOVED message everytime



address@hidden:~$ ivyprobe '(.*MOVED.*)'
Broadcasting on network 127.255.255.255, port 2010
IVYPROBE connected from localhost
IVYPROBE connected from localhost
Paparazzi GCS connected from localhost
Paparazzi sim 2 connected from localhost
Paparazzi server connected from localhost
Paparazzi sim 2 sent  '2 WP_MOVED 2 508366.968750 -3314735.500000 150.000000 22'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
Paparazzi server sent  'ground WAYPOINT_MOVED 2 2 -29.9634230 -50.9132804 150.000000 0.000000'
^C

---

Date: Fri, 12 Sep 2014 22:54:01 +0200

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Custom GCS

if (msg_id == DL_REQUEST_WAYPOINTS && DL_REQUEST_WAYPOINTS_ac_id(dl_buffer) == AC_ID) {

  uint8_t wp_id = DL_REQUEST_WAYPOINTS_wp_id(dl_buffer);
  if (wp_id == 0) {
    for (uint8_t i=0, i < nb_waypoint, i++) {
      DownlinkSendWp(DefaultChannel, DefaultDevice, i);
    }

  } else if (wp_id < nb_waypoint) {
    DownlinkSendWp(DefaultChannel, DefaultDevice, wp_id);
  }
}

of course..

On Fri, Sep 12, 2014 at 10:48 PM, Felix Ruess <address@hidden> wrote:

Hi again,

Turning off the periodic sending of the waypoints is really easy:

Simply remove the periodic WP_MOVED message from your telemetry xml file.

Adding a message to request the list of current waypoints should also not be very hard, some thing along the lines of:

- add a message REQUEST_WAYPOINTS with the aircraft id and waypoint id to the datalink class (similar to MOVE_WP)

- handle this datalink message in datalink.c, upon receiving it (and checking for the correct ac id), send all waypoints or the requested one:

if (msg_id == DL_REQUEST_WAYPOINTS && DL_REQUEST_WAYPOINTS_ac_id(dl_buffer) == AC_ID) {
    uint8_t wp_id = DL_REQUEST_WAYPOINTS_wp_id(dl_buffer);
if (wp_id == 0) {
  for (uint8_t i=0, i < nb_waypoint, i++) {
    DownlinkSendWp(DefaultChannel, DefaultDevice, i);
  }

} else if (wp_id < nb_waypoint) {
  DownlinkSendWp(DefaultChannel, DefaultDevice, wp_id);
}

For sending all waypoints the question is if the downlink buffer is large enough to add all these messages to the queue at once...
Normal uart buffer length is 128bytes, so you would probably either need to increase that or not send them all at once...

Cheers, Felix

On Fri, Sep 12, 2014 at 10:10 PM, Eduardo lavratti <address@hidden> wrote:

Thanks felix, i will see the settings.h
I see no problem if i need to copu the setting.h to the windows GCS.

Other idea is to use a server like the one used to send messages to android GCS.

Personally i not like the way the ppz telemetry work.
For example, i think its much better to request a list of waypoint than receive waypoint by waypoint in the telemetry link every time.
The same to config values.

I prefer the way the mavlink or some other work.

Some time i think in some way to set a flag that the ppz stop to send the waypoint message and then when i send a message requesting a waypoint list the flag was set and the waypoints sent  then clear the flag again.

Do you have some ideas about this ?

---

Date: Fri, 12 Sep 2014 22:01:14 +0200
From: address@hidden

To: address@hidden
Subject: Re: [Paparazzi-devel] Custom GCS

Hi Eduardo,

without having the aircraft conf listing which settings the aircraft uses or the var/aircrafts/<name>/ap/generated/settings.h there is currently no way to know which DL_VALUE index corresponds to which setting.

We wanted to avoid to send down the description/name of the setting each time, but we should try to figure out a nice way to request that information once.

So if you have the information about the aircraft on your computer, you can currently either parse the xml files or maybe use the generated SETTINGS array macro from generated/settings.h

Hope that helps...

Cheers, Felix

On Fri, Sep 12, 2014 at 9:21 PM, Eduardo lavratti <address@hidden> wrote:

Have you more images ? or info about this GCS?

I am using the wiiwingui as base for GCS
For now i read and show all sensors, read, send, load and save all waypoints and generate, send, load and save mission(waypoint and circle)
The next step is make a poligon survey in the mission module using dinamic number of waypoints.

> Date: Fri, 12 Sep 2014 00:48:34 -0700
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Custom GCS

>
> hi,
> nice project. a company in germany did the same for some years:
> http://cis-rostock.net/cis/0_index/sites/default/files/imagecache/preset_original/wysiwyg_imageupload/1/flyguide.jpg
>
> But i dont know which person made this.
>
>
>
> --
> View this message in context: http://lists.paparazziuav.org/Custom-GCS-tp16101p16113.html
> Sent from the paparazzi-devel mailing list archive at Nabble.com.
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

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