Lisa Asctec Bringup

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.

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

The Spektrum receiver at Joby has a different second sync bit than Antoine's receiver. Change

#define RC_SPK_SYNC_2 0x12

to

#define RC_SPK_SYNC_2 0x01

in 'sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h'