Difference between revisions of "Paul Cox Notes"
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==Using a Joystick:== | ==Using a Joystick:== | ||
===PC-side configuration=== | ===PC-side configuration=== | ||
On the PC side we will send actuator commands two different ways: | 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 on PC) that sets corresponding variables on the vehicle. | |||
Running the test program you can see which buttons do what: | |||
(Note you have to run a make in the directory first to compile everything) | |||
<pre> | <pre> | ||
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Axis 6 : parameters = [0,255] | Axis 6 : parameters = [0,255] | ||
Input device name: "GreenAsia Inc. USB Joystick " on device "/dev/input/event6" | 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 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 87 0 0 0 0 0 127 0 0 0 | ||
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</pre> | </pre> | ||
Then creating an xml configuration file: | Then creating an xml configuration file such as: | ||
paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit | paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit ngs_set_actuators.xml | ||
and now running the application: | and now running the input2ivy ocaml application: | ||
export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk | export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk | ||
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</message> | </message> | ||
</pre> | </pre> | ||
===Vehicle-side configuration=== | ===Vehicle-side configuration=== | ||
Revision as of 06:48, 1 October 2010
Sept 30
Using a Joystick:
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 on PC) that sets corresponding variables on the vehicle.
Running the 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>
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:
<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"/>
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
Here is the settings.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>