Difference between revisions of "Lisa Asctec Bringup"

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(added how to fix Joby's Spektrum receiver functionality)
(updated the instructions for fixing the spektrum receiver)
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=== Spektrum Satellite Receiver ===
 
=== Spektrum Satellite Receiver ===
The Spektrum receiver at Joby has a different second sync bit than Antoine's receiver. Change
+
If Lisa doesn't seem to be receiving from your Spektrum receiver, check
 
 
 
  #define RC_SPK_SYNC_2 0x12
 
  #define RC_SPK_SYNC_2 0x12
 +
in 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h'. The Joby receiver's second sync bit was actually 0x01.
  
to
+
To fix this without breaking it for other people, copy 'booz_radio_control_spektrum_dx7se.h' to 'booz_radio_control_spektrum_dx7se_YOURNAME.h' and edit the sync bit value. Copy 'conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile' to 'conf/autopilot/subsystems/booz2_radio_control_spektrum_YOURNAME.makefile' and edit it to point at the new header file. Then edit the aircraft config file to point at the new makefile.
 
 
#define RC_SPK_SYNC_2 0x01
 
 
 
in 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h'
 

Revision as of 14:55, 17 June 2010

This page describes the process of Assembling a Lisa on an Asctec frame with Asctec X-BL motor controllers and motors, from assembly to the first flight.

Assembly

Connectors

  • USART3 Spektrum RC sattelite
  • USART2 telemetry modem or PC

Compiling STM32 firmware

make AIRCRAFT=LISA_ASCTEC clean_ac ap.compile

Flashing STM32 firmware

make AIRCRAFT=LISA_ASCTEC ap.upload

Testing telemetry

Start the paparazzi program launcher:

./paparazzi

Now you have to start a series of programs.

datalink

Connects the air network with the ground network. In our case it takes the serial data from USART2 and translates them to network packets.

link -d /dev/ttyUSB1 -s 57600

messages & realtime plotter

This program is a "sniffer" it displays the packets going around on the ground network and displays them as numbers. You also may want to start the realtime plotter. You can drag values from the messages window into the realtime plotter to plot the data as a curve over time.

settings & server

Settings allows you to view configuration values on the vehicle. If you want to change any of them you will also need to start server that dispatches the data and transfers them to the vehicle. You need to tell the settings program what vehicle you are using:

settings -ac LISA_ASCTEC

GCS

Last but not least you may want to start the GroundControlSoftware where you can view and control the autonomous flight data.

Spektrum Satellite Receiver

If Lisa doesn't seem to be receiving from your Spektrum receiver, check

#define RC_SPK_SYNC_2 0x12

in 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h'. The Joby receiver's second sync bit was actually 0x01.

To fix this without breaking it for other people, copy 'booz_radio_control_spektrum_dx7se.h' to 'booz_radio_control_spektrum_dx7se_YOURNAME.h' and edit the sync bit value. Copy 'conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile' to 'conf/autopilot/subsystems/booz2_radio_control_spektrum_YOURNAME.makefile' and edit it to point at the new header file. Then edit the aircraft config file to point at the new makefile.