User:Opt

Currently operating two Paparazzi powered aircraft

Parrot AR.Drone V2.0

Quadrokopter

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
• Using drotek from http://www.drotek.fr/shop/en/home/161-ublox-gps.html
• ublox 6 works, need GPS_PORT_ID = USB_PORT_ID, already obsolete in current (<2014-06-10 Tue>) 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_COMPILE=arm-linux-gnueabi- in Makefile
  • make menuconfig
  • make modules
  • make modules_install INSTALL_MOD_PATH=../linux-modules

Joystick

• cp some-joystick.xml to gamepad.xml, change settings

• exec input2ivy -ac ardrone2_raw gamepad.xml

Magnetometer

• ardrone2_raw magnetometer problem: img_mag_raw stops reading from sensor, then TBE / toiled bowl effect, see ppz-l mails
• fixed <2014-06-10 Tue>

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_RAW 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_FP .\*)'

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_MAXR 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

Setup log

DONE [2014-05-19 Mon 09:10] log / notes / ppz

• ppz: ppz copter construction started, see below 2014-05-23
  • x ppm encoder board
  • x ppm encoder board to lisa
  • x connect GPS, telemetry modem, receiver
  • x configure Xbee for 57600 with X-CTU on windoze
  • x connect battery voltage
  • x solder LED strip red
  • x remove second satellite
  • x bind spektrum: lisa/m v2 page
  • program transmitter for ppz, set up radio receiver on ppz radio
  • config
    • roll: 11942 / -420 / -12278
    • pitch: 12236 / 42 / -12278
    • yaw: 12236 / -154 / -12278
    • thrust: -1318 / 10883
    • maybe different for spektrum?
    • RC calibration obviously not needed for spektrum
  • x ESCs OK motor order: mixer setting done
  • x configure mixer for quadx: done
  • calibrate IMU: unclear, done MAG
  • throttle adjust sensitivity
  • rate mode disable PFD?

[2014-05-20 Tue 21:41] log / notes / ppz

• x ppz managed to upload ap.bin to lisa/m. addgroup plugdev, copy
• udev rules for lisa/m

[2014-05-23 Fri 10:46] log / notes / ppz

• ppz motors spinning

• ppz now need to tune gains for RATE, ATT
  • sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
  • PID formulation 1: i,d-gains independent of pgain

[2014-05-30 Fri 01:39] log / notes / ppz

• multistar ESCs calibration trouble
  • looks like the multistar ESCs are special as they don't do
  • calibration. since i was flying well with these ESCs with the
  • naze32, it might be they're hardwired to 1000-2000us, which is
  • related to the way MultiWii handles the RC input.

• spektrum / calibration?

• ppz tuning
  • check GPS, separate antenna and place outwards
  • ahrs initialization
  • tuning: yaw is sluggish
  • tuning: roll/pitch is wobbly
  • disarm jumping

[2014-06-01 Sun 01:42] log / notes / ppz

• IMU outage on the field

• back alive on returning home

• changed lisa power supply to separate 3A UBEC. seems better. ESC
• BEC seemed to get pretty hot.

DONE [2014-06-04 Wed 10:51] log / notes / ppz

• x ppz ardrone mag fix test

• x ppz lisa disarm fix test: xbee missing

• ppz GPS and vision fuse?

• ppz document setup and fix minor things in wiki

[2014-06-06 Fri 09:06] log / notes

• ppz: phi/theta: P 450, D 350, I 60, F 160

• ppz: psi: P 480, D 100, I 10, F 250

• ppz: tuning http://lists.paparazziuav.org/Copter-tuning-setup-cookbook-step-by-step-td14386.html

• x ppz: tested yaw/disarm fix from felix. works.

• x ppz: tested mag freeze fix from daren. works.

• x ppz: weird GPS fix electrical issue on lisa quad

• x ppz: started rewiring with wound cables etc, slightly better, GPS
• fix test pending

[2014-06-06 Fri 09:09] log / notes / ppz

• ppz gps problem
  • x try other AP version: fixed
  • try other gps
  • try without ublox-ucenter autoconf

• ppz
  • imu: aspirin_v2.2 instead of 2.1
  • orange tx problem long beep, solution from http://openrcforums.com/forum/viewtopic.php?f=35&t=3396

  Re: Long Beep and loses bind?
  Postby dmajchrzak » Sun Jun 01, 2014 6:10 pm
  Figured it out. The"change id" button was stuck in. I was able to pop it free and now all is well.

[2014-06-10 Tue 10:01] log / notes / ppz

• ppz: first real flight
• ppz: yaw does sweeping (back and forth)
• ppz: roll / pitch still wobbly
• ppz: baro doesn't work / no alt info

[2014-06-11 Wed 22:00] log / notes / ppz

• ppz: test flight with IMU ok, telemetry has trouble but anyway, PID values better (policy search), Z_HZ mode semi-works, lots of oscillations

[2014-06-22 Sun 23:58] log / notes / ppz

D3 on my Lisa, looks like parts of the casing went off in addition to reading 6 Ohm both ways.