Difference between revisions of "Paul Cox Notes"

From PaparazziUAV
Jump to navigation Jump to search
 
(71 intermediate revisions by 2 users not shown)
Line 1: Line 1:
= Getting Started in Paparazzi=
= LISTS =


**Paul Cox Nov 2008 - Jan 2009
==Links==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Paul's Links
|-
! 1 !! 2 !! 3 !! 4 !! 5
|- style="background:bisque; color:black"
|[[Community_Flight_Log_Archive]]
||
[[Paul_Cox_Activity_Log]]
||
[[User:PaulCox]]
||
[[Lisa_Logitech_Camera]]
||
[[Rt3070usb]]
|- style="background:bisque; color:black"
[[http://paparazzi.enac.fr/wiki/Qwip]]
||
[[ArduIMU]]
||
[[Laserhawk]]
||
x
||
x
||
x
|}


=== Installing Software on Ubuntu Intrepid Ibex 8.10 ===
==TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ SPRING 2011 TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status


Used CVS to download "paparazzi3". also discovered Booz guys are using svn and that repository is called "paparazzi4".
|- style="background:lemonchiffon; color:black"
| 1 || build virtual world scan in hoku2gdhe || x || x || In progress
|- style="background:bisque; color:black"
| 2 || Install MTi-G driver on laptop || MTIHardTest -v <params> >> out.txt stores to disk || x || Done
|- style="background:bisque; color:black"
| 3 || Get test scans from rooftop || one night scan acquired. need day scans and higher scans (and faster) || x || In progress
|- style="background:bisque; color:black"
| 4 || Design MIPI/I2C camera board || sketches ready, Pierre doing orcad and ordering || x || In progress
|- style="background:bisque; color:black"
| 5 || Design/Build hokuyo/MTIG box/mounting cage || Build at Bertrand's place or ENAC || x || Not started
|- style="background:bisque; color:black"
| 6 || Get openembedded running on laptop || laptop too slow || x || Waiting for new PC
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}


Read the wiki multiple times through, built everything acording to instructions, and fired off the program which seems to run in simulator mode, although
==PERSO TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ PERSONAL TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || Get minimag flying || tuneup done, need some glue then ready for maiden || [[User:Paulcox|Paulcox]] 10:33, 17 February 2011 (CET) || In progress
|- style="background:bisque; color:black"
| 2 || Slowstick flying || First arduimu flights done, issues due to auto2 probably due to flight plan altitues, need to study logs || x || In progress
|- style="background:bisque; color:black"
| 3 || Flash ardupimu and get ap compiling || methodology posted on [[ArduIMU]] page || x || Done
|- style="background:bisque; color:black"
| 4 || Test xbeepro868 performance || XCTU loopback at 9600 shows 80-90%, with basic telemetry was seeing huge (10-15 sec) delay (was looking at attitude messages), short flights at 57600 ok so far|| x || In progress
|- style="background:bisque; color:black"
| 5 || Test loss of IR contrast || works in simulation, need to test in real || x || In progress
|- style="background:bisque; color:black"
| 6 || Adjust Beth opamp gains || for increased precision || x || Do it slacker
|- style="background:bisque; color:black"
| 7 || Try Web-based GCS || qwip checked in, need to try pow ||| x || In progress
|- style="background:bisque; color:black"
| 8 || Improve altitude control loop || issue with hard boundary between PI and constant regions || x || x
|- style="background:bisque; color:black"
| 9 || Some camera stabilization || Read gimbal servo positions via pot tap to ADC || x || x
|- style="background:bisque; color:black"
| 10 || Try then document item drop capability || one of the checked in enac flight plans does this || x || not started
|- style="background:bisque; color:black"
| 11 || Paparazzi Documentation || Started outlining [http://paparazzi.enac.fr/wiki/Documentation_Needed here] || x || Stalled
|- style="background:bisque; color:black"
| 12 || try pan/tilt code || x || x || no started
|- style="background:bisque; color:black"
| 13 || get log archive ready || x || x || In progress
|- style="background:bisque; color:black"
| 14 || redo joystick control setup || look at chris' stuff he send || x || Not started
|- style="background:bisque; color:black"
| 15 || potentially merge tiny/overo i2c com code from tobias || x || x || In progress
|}


I'm currently not seeing any action when I hit the "Launch" button. I probably haven't read something important somewhere...
==BUY BUY BUY==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ WISH LIST
|-
! Num !! Name !! Notes !! Price !! Status
|- style="background:bisque; color:black"
| 1 || RC Transmitter (PPM and 2.4GHz) || x || x || x
|- style="background:bisque; color:black"
| 2 || Overo Camera || x || x || x
|- style="background:bisque; color:black"
| 3 || Lisa board || x || x || x
|- style="background:bisque; color:black"
| 4 || I2C motor controllers  || need 4 to finish quad || x || x
|- style="background:bisque; color:black"
| 5 || New laptop || x || x || Keep dreaming
|- style="background:bisque; color:black"
| 6 || XBeePro868 || Need a third one to test point to multi-point || x || x
|- style="background:bisque; color:black"
| 7 || RazorIMU || For testing || x || x
|- style="background:bisque; color:black"
| 8 || Minimag || x || x || x
|- style="background:bisque; color:black"
| 9 || x || x || x || x
|}


Gather hardware:
==IDEAS==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ IDEA LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || x || x || x || x
|- style="background:bisque; color:black"
| 2 || x || x || x || x
|- style="background:bisque; color:black"
| 3 || x || x || x || x
|}


Looked at the hardware designs in CVS to see if I wanted to customize a design or build one of the "released" designs. In summary, the current things
=Random Notes=


folks are building and using are:
== ubuntu packages ==


=== Autopilots ===
===Utilities===
<pre>
sudo apt-get install medit gtkterm git-core ssh apt-file vim
</pre>


** Tiny 1.3  - ARM processor and GPS on 4 layer PCB with 0402. Benefits: smaller and 4 layers is more reliable Drawbacks: Design is older and has
===paparazzi===
<pre>
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-arm7 paparazzi-omap  libmpfr1ldbl
</pre>


evolved so there are some missing feature and maybe some issues (Insert more specifics here as I learn them)
===perl modules===
** Tiny 2.11 - ARM processor and GPS on 2 layer PCB with 0603 SMT devices.
<pre>
** TWOG - Tiny 2.11 without GPS. I assume people want to branch out and use different GPS and not just the u-blox stuff. Also I see mention that some
sudo apt-get install libstatistics-descriptive-perl libgd-gd2-perl libgeo-coordinates-utm-perl \
  libhtml-template-perl libxml-twig-perl libdigest-hmac-perl libdigest-sha1-perl libdigest-md5-file-perl
  wget http://search.cpan.org/CPAN/authors/id/M/MA/MAHEX/Image-Grab-1.4.2.tar.gz
</pre>


people want to mount GPS hardware some place different on their airframe than where the autopilot resides.
===CGI webserver===
** Booz - Some very exciting quadrotor developments. HW Design not checked yet as there's some errata that someone feels like needs to be fixed before it
<pre>
sudo apt-get install boa
</pre>


is commited.
===openrobots===
<pre>
sudo apt-get install libbz2-dev pax cmake automake autoconf doxygen libgl1-mesa-dev \
  libglu1-mesa-dev tcl-dev tk-dev libjpeg-dev libxpm-dev swig libxmu-dev libxt-dev libxt6 libxt-dev \
  tcl-dev tk-dev libbz2-dev freeglut3-dev qtcreator libtiff-dev libraw1394-dev libeigen2-dev libdc1394-22-dev
</pre>


=== Sensors ===
Create file ~/.ssh/config
<pre>
Host *.laas.fr
User pdcox
</pre>


** Single Axis IR - For two Melexis thermopiles
==Using a joystick to control twog servo==
** Dual Axis IR - For four Melexis thermopiles
===PC-side configuration===
** GPS board - A PCB to hold just a GPS and an antenna. For use with TWOG


On the PC side we will send actuator commands two different ways:


: 1. Running an ocaml application that listens to the joystick device and using a configuration file, will send ivy messages that get forwarded to the vehicle by the server.
: 2. Normal paparazzi settings mechanism (using settings dialog from paparazzi center running on PC) that sets corresponding variables on the vehicle.


Looked at how much to have the PCBs fab'ed by quick turn board house, but unless you order 25 or more PCBs you're better off buying from the listed
Running the joystick test program you can see which buttons do what:
(Note you have to run a make in the directory first to compile everything)


vendors. I went with PPZUAV:  
<pre>
~/paparazzi3/trunk/sw/ground_segment/joystick$ ./test_stick
Available button: 288 (0x120)
Available button: 289 (0x121)
Available button: 290 (0x122)
Available button: 291 (0x123)
Available button: 292 (0x124)
Available button: 293 (0x125)
Available button: 294 (0x126)
Available button: 295 (0x127)
Available button: 296 (0x128)
Available button: 297 (0x129)
Available button: 298 (0x12a)
Available button: 299 (0x12b)
Available axis: 0 (0x0)
Available axis: 1 (0x1)
Available axis: 2 (0x2)
Available axis: 5 (0x5)
Available axis: 16 (0x10)
Available axis: 17 (0x11)
Available axis: 40 (0x28)
Axis 0 : parameters = [0,255]
Axis 1 : parameters = [0,255]
Axis 2 : parameters = [0,255]
Axis 3 : parameters = [0,255]
Axis 4 : parameters = [-1,1]
Axis 5 : parameters = [-1,1]
Axis 6 : parameters = [0,255]
Input device name: "GreenAsia Inc.    USB Joystick    " on device "/dev/input/event6"
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 87 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 20 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 69 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 111 48 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 127 -64 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 32 -127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 -39 -69 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -117 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 40 -35 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 49 127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -53 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 8 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 84 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 -66 0 0 0 0 127 0 0 0
buttons 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 0 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 127 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 | axis 47 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 59 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -105 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -78 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -99 0 0 0 0 127 0 0 0
buttons 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
</pre>


* single IR PCB $8
Then creating an xml configuration file such as:
* Dual IR PCB $8
* Tiny 1.3 PCB $9.95
* Tiny 2.11 PCB $5


$6.80 shipping (California to Washington)
paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit ngs_set_actuators.xml


I check first to make sure all was in stock, and David replied that it was. Order took a couple days to process and a few days for the post office to
and now running the input2ivy ocaml application:


deliver the priority lettter. PCBs arrived in a little padded envelope and even though I knew the dimensions before, I was surprised at how small they
export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk
paparazzi3/trunk/sz/ground_segment/joystick/input2ivy -ac TJOVERO ngs_set_actuators.xml


are in the flesh.
running ivyprobe we can see the message getting transmitted:
paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ ivyprobe '(.*)'
shows:
Paparazzi joystick sent  'input2ivy SET_ACTUATOR 1496 2 3'


Components were mostly from Digikey:
but we have to make sure the server knows this message needs to be forwarded: in messages.xml the message should be labeled as "forwarded" :
TI DC/DC was only available in SMT and no shotkeys.
<pre>
<message name="SET_ACTUATOR" id="100" link="forwarded">
  <field name="value" type="uint16"/>
  <field name="no" type="uint8"/>
  <field name="ac_id" type="uint8"/>
</message>
</pre>


Complete List:
To send settings use the actuators.xml file:
(insert spreadsheet here)
<pre>
<settings>
    <dl_settings NAME="Actuators" >
      <dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan1"/>
      <dl_setting VAR="actuators[2]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan2"/>
      <dl_setting VAR="actuators[3]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan3"/>
      <dl_setting VAR="actuators[4]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan4"/>
      <dl_setting VAR="actuators[5]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan5"/>
      <dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan6"/>
      <dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan7"/>
    </dl_settings>
</settings>
</pre>


Mouser had the switching DC/DC in through-hole and shotky diode so put in an order with them as well:
===Vehicle-side configuration===


Of note: Looked for GPS modules and antenna and found some items of interest. A Tyco GPS module with a built in antenna for $60 []. Also antenna [].  
On the vehicle side we are using a twog for hardware so we will use the setup_actuators target found in  /conf/autopilot/setup.makefile.
This makefile is used by the tiny.makefile which is used because we specify we're using the twog in twinjet_overo.xml


Different center frequencies are available 1575 MHz and 1579 MHz, but googling seems to show that 1575 is the main GPS freq. Not sure what 1579 is useful
<pre>
  <firmware name="fixedwing">
    <target name="ap" board="twog_1">
</pre>


for, but it kinda looks like the one paparazzi recommends from their testing is centered at 1579 so I must be missing something.
The setup target is defined as follows in the airframe (twinjet_overo.xml):
<pre>
  <firmware name="setup">
    <target name="tunnel" board="twog_1" />
    <target name="setup_actuators" board="twog_1" />
  </firmware>
</pre>


Complete List:
If we were adding the joystick to the autopilot code we could instead add the following line to the firmware section:
(insert spreadsheet here)
: <subsystem name="joystick"/>
but that's another project...


While waiting for all the hw to arrive, built a wireless GPS device:
Here's the setup.makefile section that worked for me:


Main components:
<pre>
setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c actuators.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
</pre>


Wireless modem: XBee Pro 802.15.4 (XBP-24-AUI)
[[Category:User_Notes]]
GPS:
Battery: 2S Lipo (gutted Axim x50v battery, rewired from parallel to series)
Antenna: Some rpsma? wifi antenna I had laying around with a u.fl connector/pigtail.
 
Other components
TI DC/DC converter (same as used on tiny)
100uF tantalum capacitor (TI DC/DC conv requires this on the input)
SPDT toggle switch
Samtec mating connector for GPS
kynar wire
plastic box and some thin model plywood for a case
 
Receiver is another XBee Pro in a USB carrier board. The XBee Pro has a wire antenna (XBP-24-?UI). Looking back I should have ordered with the RP-SMA so
 
I can put some coax on there to a big honkin' antenna to improve range.
 
Build process:
Main obstacle here is the fine pitch connector on the GPS module.
 
XBee Pro and the GPS module are 3.3V devices. For the TI DC/DC used on Tiny to produce 3.3V a 1.87kOhm resistor is needed an input capacitor of 100uF is
 
needed. I wired up all these components
 
Bring up process:
 
Getting things talking was suprisingly easy. XBee devices come pre-programmed and configured for transparent mode at 9600bps. There's destination and
 
source addresses and all sorts of configurable stuff, but out of the box two XBee will just find and talk to each other (great job guys!). Transparent
 
mode basically means that both the devices send traffic to each other transparently, so essentially the end devices don't need to know anything since the
 
XBees just look like a wire.
 
The GPS module provides NMEA data at 4800 baud so I needed to reconfigure the XBees for that lower baud rate (I may not have needed to do both, but I did
 
anyways). Doing that involves getting out of transparent mode and into command mode (done by sending characters "+++") at which point a few "AT" commands
 
are used to change the rate and save the setting to non-volatile memory.
 
By the way, Digi also makes a windows application available called "X-CTU" which is very useful. It will test communication with your XBee device,
 
read/write the module's settings, and has two other very useful modes: A range test mode where the the Xbee on the far side of the link has had it's
 
RX/TX pins wired together for loopback and signal strength is displayed; and a terminal emulator that works nicely (I had a heck of a time finding a good
 
terminal program that worked with my COM26 device, looked good, and was easy to use. No matter how much .ini hacking I did I couldn't get teraterm to
 
look beyond 4 ports).
 
So first to validate that my DC/DC is providing power and the GPS works, I hooked up a GPS to a serial/USB converter (from acroname) to the GPS RX/TX
 
pins and plugged the USB cable into my laptop. Turn on power and sure enough, lots of NMEA looking stuff spews forth. Next rewired the GPS to the XBee
 
and plugged the USB/XBee device into the laptop and, voila, same data shows up as before but this time the GPS device is totally wireless.
 
Now I wanted to get more than just a bunch of NMEA strings on a terminal window, I wanted to see the position in google earth or google maps. I bought
 
the plus version of google earth and had used it with my Garmin Etrex Vista successfully, but it turns out that it doesn't work directly with an NMEA COM
 
port based device (at least for me). Instead, there are a number of folks out there that provide little command line programs that open the com port and
 
crank the data out in xml via http socket. Google earth can open a network location.
 
=== Tiny v2.11 Assembly Process ===
 
Once all parts arrive: sorting components and getting BOM and component placement references ready for use. Wiki has all this info nicely laid out.
 
* PCB silkscreen and wiki image (http://paparazzi.enac.fr/wiki_images/Tiny_v2-1_2D_top.jpg) have LED1 and LED2 reversed. Not sure which is correct yet.
 
Since there's more components on the CPU side, that's the side I populate first. Starting with smallest components to largest makes assembly the fastest.
 
Once all components mounted and the input power wires are soldered, time to apply power. I used a benchtop power supply so I could monitor current.
 
With a voltage input of 7.0V, current should be around 50? mA.
 
Now attach IR sensor boards and USB connector along with wires for other interfaces (serial, download, rc receiver -- I'm waiting before doing servo
 
wires to keep things tidy until later)
 
First order of business is to download USB bootloader over the serial port. This uses the "Download" serial port so you have to disable the GPS, but I
 
hadn't populated it yet so didn't have to bother with disabling it.
 
Now that there's a USB bootloader, downloading code into Tiny just requires plugging in the USB cable, powering up, and sending the code (which is either
 
done with a "make" command or pressing the "Upload" button in Paparazzi Center.
 
Now to run a simple program: LED test. Some nice instructions on getting this going are [here].
 
All goes well and three LEDs are blinking.
 
Now download autopilot code. A direct connection of the serial port to a USB-serial adapter plugged into my PC relays the telemetry data. Firing
 
Paparazzi Center and executing the session "Flight USB-serial@9600" shows battery voltage so I'm up and running.
 
Now I attach the IR boards
 
== Mounting ==
[[Messy Hardware]]
 
[[Image:PDC_Tiny21_mounted1.jpg|thumb|Mounted Tiny]]
[[Image:PDC_Tiny21_mounted2.jpg|thumb|Mounted Tiny]]
 
Things are getting sloppy and afraid something will short and fry, so it's time to mount things to get things under control. I had some plastic cases
that some lenses came in which happen to be just the right size. Tiny, my 2S lipo, and an XBee fit in one side perfectly, and the other side can be used
for extra wires, the USB connector, power switch, and the RC Receiver. The IR sensors are hot-glued on the exterior using a little balsa. Probably won't
be useful when it comes time to fly, but it's compact and sturdy which is what I need until I'm ready to start thinking about flying...
 
<br style="clear:both">
 
== Configuration ==
 
I started with the funjet1.xml airframe file because I read others use that with the Tiny2.11. I don't plan to use a dual elevon plane (instead will do a
 
standard rudder/elevator/ailerons setup) so will have to make lots of changes -- not a bad way to learn how things work... The
 
[http://paparazzi.enac.fr/wiki/Airframe_Configuration Airframe Configuration] page is a great help here.
 
** Battery voltage - The default looks to be setup for a 3S battery and perhaps my resistor devider resistors aren't the right values, so GCS reports
 
incorrect battery voltage. Instead of hunting through the code I vary the voltage on my power supply, watch the output, and empiracally find the correct
 
values to set:
 
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="VOLTAGE_ADC_A" value="0.0245"/>
<define name="VOLTAGE_ADC_B" value="0.1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
 
** IR:
***Mode - I change from to tilted to aligned mode because tilted mode seems weird. 
remove:
  <define name="HORIZ_SENSOR_TILTED" value="1"/>
add:
  <define name="HORIZ_SENSOR_ALIGNED" value="1"/>
 
***Neutrals - The "cupboard test" shows the neutral values are pretty close already.
 
***Direction - Tilting the sytem around, I see that one of the axes is reversed so I set IR2_SIGN and TOP_SIGN values accordingly:
 
insert here
 
** GPS - For LEA-5H u-blox module: add -DGPS_USE_LATLONG in makefile portion of airframe xml file as per instructions on wiki []. I still get some error
 
messages, but they stop after a few seconds and all seems to work.

Latest revision as of 02:05, 6 April 2011

LISTS

Links

[[1]]
Paul's Links
1 2 3 4 5
Community_Flight_Log_Archive

Paul_Cox_Activity_Log

User:PaulCox

Lisa_Logitech_Camera

Rt3070usb

ArduIMU

Laserhawk

x

x

x

TODO

SPRING 2011 TODO LIST
Num Name Notes Priority Status
1 build virtual world scan in hoku2gdhe x x In progress
2 Install MTi-G driver on laptop MTIHardTest -v <params> >> out.txt stores to disk x Done
3 Get test scans from rooftop one night scan acquired. need day scans and higher scans (and faster) x In progress
4 Design MIPI/I2C camera board sketches ready, Pierre doing orcad and ordering x In progress
5 Design/Build hokuyo/MTIG box/mounting cage Build at Bertrand's place or ENAC x Not started
6 Get openembedded running on laptop laptop too slow x Waiting for new PC
x x x x x

PERSO TODO

PERSONAL TODO LIST
Num Name Notes Priority Status
1 Get minimag flying tuneup done, need some glue then ready for maiden Paulcox 10:33, 17 February 2011 (CET) In progress
2 Slowstick flying First arduimu flights done, issues due to auto2 probably due to flight plan altitues, need to study logs x In progress
3 Flash ardupimu and get ap compiling methodology posted on ArduIMU page x Done
4 Test xbeepro868 performance XCTU loopback at 9600 shows 80-90%, with basic telemetry was seeing huge (10-15 sec) delay (was looking at attitude messages), short flights at 57600 ok so far x In progress
5 Test loss of IR contrast works in simulation, need to test in real x In progress
6 Adjust Beth opamp gains for increased precision x Do it slacker
7 Try Web-based GCS qwip checked in, need to try pow x In progress
8 Improve altitude control loop issue with hard boundary between PI and constant regions x x
9 Some camera stabilization Read gimbal servo positions via pot tap to ADC x x
10 Try then document item drop capability one of the checked in enac flight plans does this x not started
11 Paparazzi Documentation Started outlining here x Stalled
12 try pan/tilt code x x no started
13 get log archive ready x x In progress
14 redo joystick control setup look at chris' stuff he send x Not started
15 potentially merge tiny/overo i2c com code from tobias x x In progress

BUY BUY BUY

WISH LIST
Num Name Notes Price Status
1 RC Transmitter (PPM and 2.4GHz) x x x
2 Overo Camera x x x
3 Lisa board x x x
4 I2C motor controllers need 4 to finish quad x x
5 New laptop x x Keep dreaming
6 XBeePro868 Need a third one to test point to multi-point x x
7 RazorIMU For testing x x
8 Minimag x x x
9 x x x x

IDEAS

IDEA LIST
Num Name Notes Priority Status
1 x x x x
2 x x x x
3 x x x x

Random Notes

ubuntu packages

Utilities

sudo apt-get install medit gtkterm git-core ssh apt-file vim

paparazzi

sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-arm7 paparazzi-omap  libmpfr1ldbl

perl modules

sudo apt-get install libstatistics-descriptive-perl libgd-gd2-perl libgeo-coordinates-utm-perl \
  libhtml-template-perl libxml-twig-perl libdigest-hmac-perl libdigest-sha1-perl libdigest-md5-file-perl
  wget http://search.cpan.org/CPAN/authors/id/M/MA/MAHEX/Image-Grab-1.4.2.tar.gz

CGI webserver

sudo apt-get install boa

openrobots

sudo apt-get install libbz2-dev pax cmake automake autoconf doxygen libgl1-mesa-dev \
  libglu1-mesa-dev tcl-dev tk-dev libjpeg-dev libxpm-dev swig libxmu-dev libxt-dev libxt6 libxt-dev \
  tcl-dev tk-dev libbz2-dev freeglut3-dev qtcreator libtiff-dev libraw1394-dev libeigen2-dev libdc1394-22-dev

Create file ~/.ssh/config 

Host *.laas.fr
User pdcox

Using a joystick to control twog servo

PC-side configuration

On the PC side we will send actuator commands two different ways:

1. Running an ocaml application that listens to the joystick device and using a configuration file, will send ivy messages that get forwarded to the vehicle by the server.
2. Normal paparazzi settings mechanism (using settings dialog from paparazzi center running on PC) that sets corresponding variables on the vehicle.

Running the joystick test program you can see which buttons do what: (Note you have to run a make in the directory first to compile everything) 

~/paparazzi3/trunk/sw/ground_segment/joystick$ ./test_stick 
Available button: 288 (0x120)
Available button: 289 (0x121)
Available button: 290 (0x122)
Available button: 291 (0x123)
Available button: 292 (0x124)
Available button: 293 (0x125)
Available button: 294 (0x126)
Available button: 295 (0x127)
Available button: 296 (0x128)
Available button: 297 (0x129)
Available button: 298 (0x12a)
Available button: 299 (0x12b)
Available axis: 0 (0x0)
Available axis: 1 (0x1)
Available axis: 2 (0x2)
Available axis: 5 (0x5)
Available axis: 16 (0x10)
Available axis: 17 (0x11)
Available axis: 40 (0x28)
Axis 0 : parameters = [0,255]
Axis 1 : parameters = [0,255]
Axis 2 : parameters = [0,255]
Axis 3 : parameters = [0,255]
Axis 4 : parameters = [-1,1]
Axis 5 : parameters = [-1,1]
Axis 6 : parameters = [0,255]
Input device name: "GreenAsia Inc.    USB Joystick     " on device "/dev/input/event6"
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 87 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 20 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 69 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 111 48 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 127 -64 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 32 -127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 -39 -69 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -117 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 40 -35 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 49 127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -53 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 8 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 84 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 -66 0 0 0 0 127 0 0 0
buttons 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 0 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 127 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 | axis 47 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 59 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -105 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -78 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -99 0 0 0 0 127 0 0 0
buttons 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0

Then creating an xml configuration file such as: 

paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit ngs_set_actuators.xml

and now running the input2ivy ocaml application: 

export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk
paparazzi3/trunk/sz/ground_segment/joystick/input2ivy -ac TJOVERO ngs_set_actuators.xml

running ivyprobe we can see the message getting transmitted: 

paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ ivyprobe '(.*)'

shows: 

Paparazzi joystick sent  'input2ivy SET_ACTUATOR 1496 2 3'

but we have to make sure the server knows this message needs to be forwarded: in messages.xml the message should be labeled as "forwarded" : 

 <message name="SET_ACTUATOR" id="100" link="forwarded">
   <field name="value" type="uint16"/>
   <field name="no" type="uint8"/>
   <field name="ac_id" type="uint8"/>
 </message>

To send settings use the actuators.xml file: 

<settings>
    <dl_settings NAME="Actuators" >
      <dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan1"/>
      <dl_setting VAR="actuators[2]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan2"/>
      <dl_setting VAR="actuators[3]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan3"/>
      <dl_setting VAR="actuators[4]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan4"/>
      <dl_setting VAR="actuators[5]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan5"/>
      <dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan6"/>
      <dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan7"/>
    </dl_settings>
</settings>

Vehicle-side configuration

On the vehicle side we are using a twog for hardware so we will use the setup_actuators target found in /conf/autopilot/setup.makefile. This makefile is used by the tiny.makefile which is used because we specify we're using the twog in twinjet_overo.xml 

  <firmware name="fixedwing">
    <target name="ap" 			board="twog_1">

The setup target is defined as follows in the airframe (twinjet_overo.xml): 

  <firmware name="setup">
    <target name="tunnel" 		board="twog_1" />
    <target name="setup_actuators" 	board="twog_1" />
  </firmware>

If we were adding the joystick to the autopilot code we could instead add the following line to the firmware section:

<subsystem name="joystick"/>

but that's another project...

Here's the setup.makefile section that worked for me: 

setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ 
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c actuators.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
Retrieved from "http://wiki.paparazziuav.org/w/index.php?title=Paul_Cox_Notes&oldid=9256"