Re: [Paparazzi-devel] Rotorcraft Mission Module

[Felix Ruess]

Hi Enes,

would be great if you could add this to the wiki.

Thanks, Felix

On Mon, Oct 20, 2014 at 9:27 AM, enes dilcan <address@hidden> wrote:

Above flag is misplaced. I added it under target=rotorcraft instead of NPS. Now it is OK.

For people who want to try mission module in rotorcraft let me give a brief description (maybe this also sould be documented on wiki)

Building mission module for NPS

1. Add mission module to airframe file.
<load name="mission_rotorcraft.xml"/>

2. Add mission block to flight plan
<block name="mission" strip_button="Mission">
<call fun="mission_run()"/>
<deroute block="Standby"/>
</block>

3. Add mission flag on target=nps
<configure name="USE_MISSION_COMMANDS_IN_NPS" value="1"/>

Testing module on NPS

1. Create an executable to send Ivy messages

-> just add c_ivy_client_example_3 to "all:" in "sw/ground_segment/tmtc/Makefile"

-> Add mission string under example hello message in c_ivy_client_example_3.c
Format: IvySendMsg("mission MISSION_GOTO_WP Aircraft_id Insert X Y Z T");
Example: IvySendMsg("mission MISSION_GOTO_WP 3 0 10.0 10.0 10.0 10.0");

-> make c_ivy_client_example_3.c

2. Start NPS Simulation

3. First Start Engine then Takeoff

4. Run c_ivy_client_example_3

5. Hit "ClickMe" to send the message to Ivybus

6. Hit "Mission" strip button to run the sent mission.

Regards,

Enes

On Fri, Oct 17, 2014 at 1:30 PM, enes dilcan <address@hidden> wrote:

Hi Gautier,

I have USE_MISSION_COMMANDS_IN_NPS flag in my airframe file.

Regards,

enes

On Fri, Oct 17, 2014 at 12:44 PM, Gautier Hattenberger <address@hidden> wrote:

Hi,

Do you have the flag USE_MISSION_COMMANDS_IN_NPS in your airframe file ?

Gautier

Le 16/10/2014 22:37, enes dilcan a écrit :

Hi guys,

I want to test mission module on NPS but currently I have not manage to run it.

First,I added mission_rotorcraft.xmi to airframe file and I called mission_run function from flight plan.Then I wrote a c app for sending mission messages to Ivybus. By using ivyprobe, I listened Ivybus and I only displayed values related mission. After calling my app I saw that, MISSION_GO_TO_WP messages were inserted to Ivybus but MISSION_STATUS was not changed.

I would be very pleased if someone can summarize the usage of mission module on NPS.

As a note that, I have used Paparazzi-v5-2-0-stable for this case. Also , I have tested my c app by sending/binding other messages before testing mission messages.

Regards,

enes

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