Subsystem/radio control

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Revision as of 15:31, 1 March 2012 by Flixr (talk | contribs) (removed software category, as Subsystems is a subcategory of Software)

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Radio Control subsystem

Currently possible Radio Control subsystems are

  • ppm
  • spektrum
  • datalink (fixedwing only)

Configure Options

If a configure option is not specified the default is used.

  • RADIO_CONTROL_LED: 1, 2, 3, none
    • default: Already defined according to your board (e.g. none for tiny/twog, 1 for booz and navgo).

E.g. if you want to use LED3 to indicate if RC is ok on yapa:

File: conf/airframes/myplane.xml
  <firmware name="fixedwing or rotorcraft">
    <subsystem name="radio_control"       type="ppm">
      <configure name="RADIO_CONTROL_LED" value="3"/>



The Paparazzi autopilot can interface directly with the PWM signal from any standard hobby R/C receiver. Signal decoding configuration settings for this are stored in the Radio Control file.

Just specify the appropriate subsystem in your firmware section:

File: conf/airframes/myplane.xml
  <firmware name="fixedwing or rotorcraft">
    <subsystem name="radio_control"     type="ppm"/>



Obsolete Classix Autopilot

If you have a Classix Autopilot:

File: conf/airframes/myplane.xml
 ap.EXTRA_SRCS += radio_control.c $(SRC_ARCH)/ppm_hw.c
 ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
 ap.EXTRA_SRCS += $(SRC_ARCH)/servos_direct_hw.c

For the Classix, you must specify which pins to use for PWM by adding "-DPWM_SERVO_0, etc." to the line fbw.CFLAGS. This activate the PWM channel.

 wiring on classix PWM connector
 connector   LPC   shared         port 
 PWM1        PWM5  AD1_6  CAP1_3  P0.21
 PWM2        PWM3  RXD0   EINT0   P0.1
 PWM3        PWM1  TXD0           P0.0
 PWM4        PWM6  RXD1   EINT3   P0.9
 PWM5        PWM4  TXD1   AD1_1   P0.8
 PWM6        PWM2  SSEL0  EINT2   P0.7

PWM1 and PWM6 should be safe. PWM4 and PWM5 should be OK if you're not using UART1 on the FBW processor - same for PWM2 and PWM3 if you're not using UART0 (disable FBW telemetry for that ).