PaparazziUAV - User contributions [en]

LisaOveroImage

2010-09-25T10:32:44Z

Ghorn: /* Building an Overo image for Lisa with Open Embedded */

==Building an Overo image for Lisa with Open Embedded==

The goal is to use openmbedded to build an image for the overo with the bits needed for Lisa. Currently this includes
# libevent
# linux kernel 2.6.33.5-rt23 (maintained at git://gitorious.org/linux-omap3/linux-omap3.git)
## based on gumstix-oe from (git://www.sakoman.com/git/linux-omap-2.6.git)
## antoine's patch for spi device node on overo
## 2.6.33.5-rt23 preempt-rt patch

* Make sure you have bitbake and build-essential installed:
apt-get install bitbake build-essential
* Ubuntu 10 will also get errors during bitbake unless the following is installed
sudo apt-get install git-core help2man diffstat texi2html texinfo chrpath sgmlspl
* And don't forget to install glib
sudo apt-get install libglib2.0-dev
* Ubuntu 10 will also need to remove the link for /bin/sh that points to dash and instead point it to bash
sudo su -
cd /bin && rm -f sh && ln -s bash sh

* Make an overo-oe directory in your home directory!!!!!, cd into it!!:

mkdir ~/overo-oe
cd ~/overo-oe

* Clone Allen's openmebedded tree:
git clone git://gitorious.org/linux-omap3/openembedded.git org.openembedded.dev

(If you want to take a look at the repository beforehand you can find it [http://gitorious.org/linux-omap3/openembedded Here])

* Copy build profile into ~/overo-oe, source it:

cp -r org.openembedded.dev/contrib/jei/build .
source ~/overo-oe/build/profile

* Use bitbake to build the image:
bitbake omap3-lisa-image

On July 9 2010, on an up to date lucid lynx, the build is broken due to a bug in bug in gzip ( yeah.. they still have that... )

ERROR:
....expat_2.0.1.bb do_unpack failed

solution to this error:

http://www.facebook.com/note.php?note_id=398968379361

follow instructions of ERROR#1

In short:
cd~/
sudo apt-get install gzrt
cd ~/overo-oe/sources/
gzrecover expat-2.0.1.tar.gz;mv expat-2.0.1.tar.recovered expat-2.0.1.tar;gzip expat-2.0.1.tar
say yes to the overwrite
md5sum expat-2.0.1.tar.gz; sha256sum expat-2.0.1.tar.gz
note them somewhere
gedit expat-2.0.1.tar.gz.md5
replace with the new MD5 checksum and save
cd ~/overo-oe/org.openembedded.dev/recipes/expat
gedit expat_2.0.1.bb
change the MD5 and SHA256 checksums there to reflect the new ones, and save
cd ~/overo-oe/
bitbake omap3-lisa-image

Lisa Asctec Bringup

2010-06-22T04:21:45Z

Ghorn:

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 ==
You may need to make several changes to the 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h' file. We created a new file called 'booz_radio_control_spektrum_dx7se_joby.h'. This file is included by adding the following line to the airframe file:

ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se_joby.h\"

If Lisa doesn't seem to be receiving from your Spektrum receiver, check
#define RC_SPK_SYNC_2 0x12
Our receiver's second sync bit was actually 0x01.

Check the mapping and signs of the RC channels by viewing the paparazzi telemetry. You also want to include the kill switch channel if it is not already there. Our mapping and signs look like this:

#define RADIO_CONTROL_ROLL 0
#define RADIO_CONTROL_THROTTLE 5
#define RADIO_CONTROL_PITCH 3
#define RADIO_CONTROL_YAW 6
#define RADIO_CONTROL_MODE 1
#define RADIO_CONTROL_KILL_SWITCH 4

#define RC_SPK_THROWS { MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
-MAX_PPRZ/MAX_SPK, \
-MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK }

== Motor Mapping ==
Depending on which propellers are mounted where, you need to edit your airframe file (in the supervision section). Our mapping looked like this:
<define name="ROLL_COEF" value="{ 0, 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>

== Motor Spin Directions ==
Make sure your motors are spinning in the correct direction. We did this by swapping the brushless motor leads, but it should be possible to do this through Paparazzi's settings menu. This functionality might not yet be fully implemented.

== Check Motor Controllers ==
The Asctec motor controller bypass capacitors are prone to damage. Replace them if they look dented, otherwise the motor controllers will not function.

== Calibrate Accelerometers and Magnetometers ==
See [[BoozSensorsCalibration]]. During the data aquisition stage, be sure to let the vehicle rest in each position. Don't hold it in your hand. This is because the calibration script checks the data for noise and drops data from noisy sections. If ALL your data is too noisy and gets dropped, the script will give you a "too many indices" error. This error may also occur when your logfile is empty.

If your magnetometer data is too noisy (if you try to calibrate magnetometers when a computer or power supply is close by), the calibration script will take a very long time to run, and then it will give you incorrect results. Plot your data to see if it looks too noisy.

The signs on the outputted sensor gains are dependent on the orientation of Booz IMU (the sensor board) relative to the main Lisa board. This correction will be automated in a future release.

== Preflight Automatic Gyro Zeroing ==
When you power up the vehicle for a flight, an LED on Lisa will blink quickly. Rest the vehicle on a flat surface until the LED goes solid. This indicates the vehicle is ready to fly and you can turn on the motors.

Lisa Asctec Bringup

2010-06-22T04:19:31Z

Ghorn: /* Calibrate Accelerometers and Magnetometers */

Lisa Asctec Bringup

2010-06-22T04:12:04Z

Ghorn:

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 ==
You may need to make several changes to the 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h' file. We created a new file called 'booz_radio_control_spektrum_dx7se_joby.h'. This file is included by adding the following line to the airframe file:

ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se_joby.h\"

If Lisa doesn't seem to be receiving from your Spektrum receiver, check
#define RC_SPK_SYNC_2 0x12
Our receiver's second sync bit was actually 0x01.

Check the mapping and signs of the RC channels by viewing the paparazzi telemetry. You also want to include the kill switch channel if it is not already there. Our mapping and signs look like this:

#define RADIO_CONTROL_ROLL 0
#define RADIO_CONTROL_THROTTLE 5
#define RADIO_CONTROL_PITCH 3
#define RADIO_CONTROL_YAW 6
#define RADIO_CONTROL_MODE 1
#define RADIO_CONTROL_KILL_SWITCH 4

#define RC_SPK_THROWS { MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
-MAX_PPRZ/MAX_SPK, \
-MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK }

== Motor Mapping ==
Depending on which propellers are mounted where, you need to edit your airframe file (in the supervision section). Our mapping looked like this:
<define name="ROLL_COEF" value="{ 0, 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>

== Motor Spin Directions ==
Make sure your motors are spinning in the correct direction. We did this by swapping the brushless motor leads, but it should be possible to do this through Paparazzi's settings menu. This functionality might not yet be fully implemented.

== Check Motor Controllers ==
The Asctec motor controller bypass capacitors are prone to damage. Replace them if they look dented, otherwise the motor controllers will not function.

== Calibrate Accelerometers and Magnetometers ==
See [[BoozSensorsCalibration]]. The signs on these sensor gains are dependent on the orientation of Booz IMU (the sensor board) relative to the main Lisa board.

Lisa Asctec Bringup

2010-06-22T04:03:46Z

Ghorn: motor spin directions

Lisa Asctec Bringup

2010-06-22T04:00:22Z

Ghorn: /* Check Motor Controllers */

Lisa Asctec Bringup

2010-06-22T04:00:10Z

Ghorn: /* Motor Mapping */

Lisa Asctec Bringup

2010-06-22T03:59:52Z

Ghorn: /* Spektrum Satellite Receiver */

Lisa Asctec Bringup

2010-06-22T03:59:16Z

Ghorn: motor mapping

Lisa Asctec Bringup

2010-06-22T03:55:19Z

Ghorn: spektrum channel mapping and signs

Lisa Asctec Bringup

2010-06-18T23:38:16Z

Ghorn: check motor controllers

Lisa Asctec Bringup

2010-06-17T21:56:21Z

Ghorn: /* Spektrum Satellite Receiver */

Lisa Asctec Bringup

2010-06-17T21:55:02Z

Ghorn: updated the instructions for fixing the spektrum receiver

Lisa Asctec Bringup

2010-06-17T21:03:07Z

Ghorn: added how to fix Joby's Spektrum receiver functionality