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(Created page with "Currently operating two Paparazzi powered aircraft * ARDrone(s) * Lisa/M v2 10-inch quadrotor") |
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Currently operating two Paparazzi powered aircraft | Currently operating two Paparazzi powered aircraft | ||
* | = Parrot AR.Drone V2.0 = | ||
[http://www2.informatik.hu-berlin.de/~oberthol/html/Quadrokopter.html Quadrokopter] | |||
== Taking control == | |||
What framework to use to work with the ARDrone. For me this revolves | |||
around [http://www2.informatik.hu-berlin.de/~oberthol/html/Report_Robotics_ARDrone.html ROS and Paparazzi]. | |||
* standard | |||
* standard + QGC | |||
* paparazzi | |||
* ros | |||
** installed ubuntu 12.04 LTS | |||
** installed ros-groovy-ros-full | |||
* node.js | |||
== Issues == | |||
* Control | |||
* Access to sensors | |||
* Flight recorder | |||
=== Video stream === | |||
* gst stuff installed fine as per instructions from wiki | |||
=== GPS === | |||
* Flight recorder doesn't work | |||
* ublox 6 works, need GPS_PORT_ID = USB_PORT_ID, already obsolete in current (<span class="timestamp-wrapper"><span class="timestamp"><2014-06-10 Tue></span></span>) git | |||
* needs cdc-acm.ko kernel module | |||
** get linux.tar.bz2 from parrot.com: | |||
** https://devzone.parrot.com/projects/show/oss-ardrone2 | |||
** get gcc cross compiler | |||
** unpack linux sources | |||
** cp kernel.config .config | |||
** set ARCH=arm, CROSS<sub>COMPILE</sub>=arm-linux-gnueabi- in Makefile | |||
** make menuconfig | |||
** make modules | |||
** make modules<sub>install</sub> INSTALL_MOD_PATH=../linux-modules | |||
=== Joystick === | |||
* cp some-joystick.xml to gamepad.xml, change settings | |||
* exec input2ivy -ac ardrone2<sub>raw</sub> gamepad.xml | |||
=== Magnetometer === | |||
* ardrone2_raw magnetometer problem: img_mag_raw stops reading from sensor, then TBE / toiled bowl effect, see ppz-l mails | |||
* fixed <span class="timestamp-wrapper"><span class="timestamp"><2014-06-10 Tue></span></span> | |||
=== Messages / Debugging / ivyprobe === | |||
* use -c parameter for messages to select from message classes | |||
*(telemetry, ground, datalink, …) | |||
* enable debugging messages in GCS / settings app in order to | |||
*receive e.g. IMU<sub>RAW</sub> messages | |||
Ivyprobe needs a regexp as parameter to show you something: | |||
* to see all messages: ivyprobe '(.\*)' | |||
* to see a specific message (rotorcraft status for instance): ivyprobe '(.\* ROTORCRAFT<sub>FP</sub> .\*)' | |||
With "messages" tool, you can also start with an option to see messages | |||
from an other class than telemetry (downlink): messages -c datalink | |||
=== PID tuning === | |||
sluggish yaw response: | |||
[GH]: I have started to fly an ardrone in manual today, and it seems that the | |||
SP<sub>MAX</sub><sub>R</sub> which define the max yaw rate is way to high and can be reduced | |||
to 200 deg/s or less for an easier control in manual. | |||
Also the gains can be increased compared to the values in example file. | |||
I'm using | |||
PGAIN=1600 | |||
DGAIN=450 | |||
IGAIN=120 | |||
for PHI and THETA without issues (indoor flight only for now). | |||
Btw, the mag seems to be really crappy… | |||
= Lisa/M v2 10-inch quadrotor = | |||
Documentation in progress. | |||
Revision as of 01:55, 10 June 2014
Currently operating two Paparazzi powered aircraft
Parrot AR.Drone V2.0
Taking control
What framework to use to work with the ARDrone. For me this revolves around ROS and Paparazzi.
- standard
- standard + QGC
- paparazzi
- ros
- installed ubuntu 12.04 LTS
- installed ros-groovy-ros-full
- node.js
Issues
- Control
- Access to sensors
- Flight recorder
Video stream
- gst stuff installed fine as per instructions from wiki
GPS
- Flight recorder doesn't work
- ublox 6 works, need GPS_PORT_ID = USB_PORT_ID, already obsolete in current () git
- needs cdc-acm.ko kernel module
- get linux.tar.bz2 from parrot.com:
- https://devzone.parrot.com/projects/show/oss-ardrone2
- get gcc cross compiler
- unpack linux sources
- cp kernel.config .config
- set ARCH=arm, CROSSCOMPILE=arm-linux-gnueabi- in Makefile
- make menuconfig
- make modules
- make modulesinstall INSTALL_MOD_PATH=../linux-modules
Joystick
- cp some-joystick.xml to gamepad.xml, change settings
- exec input2ivy -ac ardrone2raw gamepad.xml
Magnetometer
- ardrone2_raw magnetometer problem: img_mag_raw stops reading from sensor, then TBE / toiled bowl effect, see ppz-l mails
- fixed
Messages / Debugging / ivyprobe
- use -c parameter for messages to select from message classes
- (telemetry, ground, datalink, …)
- enable debugging messages in GCS / settings app in order to
- receive e.g. IMURAW messages
Ivyprobe needs a regexp as parameter to show you something:
- to see all messages: ivyprobe '(.\*)'
- to see a specific message (rotorcraft status for instance): ivyprobe '(.\* ROTORCRAFTFP .\*)'
With "messages" tool, you can also start with an option to see messages from an other class than telemetry (downlink): messages -c datalink
PID tuning
sluggish yaw response:
[GH]: I have started to fly an ardrone in manual today, and it seems that the SPMAXR which define the max yaw rate is way to high and can be reduced to 200 deg/s or less for an easier control in manual. Also the gains can be increased compared to the values in example file. I'm using PGAIN=1600 DGAIN=450 IGAIN=120 for PHI and THETA without issues (indoor flight only for now).
Btw, the mag seems to be really crappy…
Lisa/M v2 10-inch quadrotor
Documentation in progress.