Configuration for apogee quadrotor.

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Configuration for apogee quadrotor.

liangchao
apogee_lc.xml

Hi,

I am working on a apogee board, which in a quadrotor airframe. The current config file does not work well. Cause, the there are only two motor working while the throttle open. But the motors have reflection while the joystick operates.

I really appreciate anyone would let me know which part of the config relate to the problem.

Sorry for the copy and paste.

<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="apogee">
  <firmware name="rotorcraft">
    <define name="USE_I2C1"/>
    <define name="USE_I2C2"/>
    <define name="USE_BARO_BOARD"/>
    <target name="ap" board="apogee_1.0">
     
    </target>
    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
    </target>

    <subsystem name="motor_mixing"/>
    <subsystem name="actuators" type="pwm">
      <define name="SERVO_HZ" value="400"/>
    </subsystem>

    <subsystem name="radio_control" type="datalink"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="sdlog"/>

    <subsystem name="imu"           type="apogee"/>
   
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs"          type="int_cmpl_quat">
      <define name="USE_MAGNETOMETER"/>
      <define name="MODULE_mag_ak8975_UPDATE_AHRS"/>
    </subsystem>
   
    <subsystem name="ins"/>
  </firmware>

  <servos driver="Pwm">
    <servo name="TOP_LEFT"     no="0" min="800" neutral="1000" max="1900"/>
    <servo name="TOP_RIGHT"    no="1" min="800" neutral="1000" max="1900"/>
    <servo name="BOTTOM_LEFT"  no="2" min="800" neutral="1000" max="1900"/>
    <servo name="BOTTOM_RIGHT" no="3" min="800" neutral="1000" max="1900"/>
  </servos>

  <commands>
    <axis name="ROLL"   failsafe_value="0"/>
    <axis name="PITCH"  failsafe_value="0"/>
    <axis name="YAW"    failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL"  value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW"   value="0"/>
    <define name="NB_MOTOR"   value="4"/>
    <define name="SCALE"      value="256"/>

   
    <define name="ROLL_COEF"   value="{  256, -256, -256,  256  }"/>
    <define name="PITCH_COEF"  value="{  256,  256, -256, -256  }"/>
    <define name="YAW_COEF"    value="{ -256,  256, -256,  256  }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256  }"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="TOP_LEFT"      value="motor_mixing.commands[0]"/>
    <set servo="TOP_RIGHT"     value="motor_mixing.commands[1]"/>
    <set servo="BOTTOM_LEFT"   value="motor_mixing.commands[2]"/>
    <set servo="BOTTOM_RIGHT"  value="motor_mixing.commands[3]"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0.0" unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0.0" unit="deg"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>
    <define name="ACCEL_X_SENS" value="2.46053275899" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.45567151099" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.44223710019" integer="16"/>

    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>
    <define name="GYRO_P_SENS" value="2.17953" integer="16"/>
    <define name="GYRO_Q_SENS" value="2.17953" integer="16"/>
    <define name="GYRO_R_SENS" value="2.17953" integer="16"/>

    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <define name="MAG_X_NEUTRAL" value="1264"/>
    <define name="MAG_Y_NEUTRAL" value="-1258"/>
    <define name="MAG_Z_NEUTRAL" value="1413"/>
    <define name="MAG_X_SENS" value="1.03006422406" integer="16"/>
    <define name="MAG_Y_SENS" value="0.938977337564" integer="16"/>
    <define name="MAG_Z_SENS" value="1.14818205257" integer="16"/>
  </section>

 
 
  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.516264"/>
    <define name="H_Y" value="-0.0602113"/>
    <define name="H_Z" value="0.854311"/>
  </section>

  <section name="INS" prefix="INS_">
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
   
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>
    <define name="REF_TAU" value="4"/>

   
    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

    <define name="IGAIN_P" value="75"/>
    <define name="IGAIN_Q" value="75"/>
    <define name="IGAIN_R" value="50"/>

   
    <define name="DDGAIN_P" value="300"/>
    <define name="DDGAIN_Q" value="300"/>
    <define name="DDGAIN_R" value="300"/>
  </section>

  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    <define name="SP_MAX_PHI"          value="45" unit="deg"/>
    <define name="SP_MAX_THETA"        value="45" unit="deg"/>
    <define name="SP_MAX_R"            value="90" unit="deg/s"/>
    <define name="SP_PSI_DELTA_LIMIT"  value="45" unit="deg"/>

    <define name="DEADBAND_A"          value="0"/>
    <define name="DEADBAND_E"          value="0"/>
    <define name="DEADBAND_R"          value="250"/>

   
    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
    <define name="REF_ZETA_P"   value="0.85"/>
    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q"   value="0.85"/>
    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
    <define name="REF_ZETA_R"   value="0.85"/>
    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

   
    <define name="PHI_PGAIN"  value="507"/>
    <define name="PHI_DGAIN"  value="274"/>
    <define name="PHI_IGAIN"  value="79"/>

    <define name="THETA_PGAIN"  value="507"/>
    <define name="THETA_DGAIN"  value="274"/>
    <define name="THETA_IGAIN"  value="79"/>

    <define name="PSI_PGAIN"  value="300"/>
    <define name="PSI_DGAIN"  value="160"/>
    <define name="PSI_IGAIN"  value="50"/>

   
    <define name="PHI_DDGAIN"   value="106"/>
    <define name="THETA_DDGAIN" value="106"/>
    <define name="PSI_DDGAIN"   value="106"/>
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
    <define name="HOVER_KP"    value="150"/>
    <define name="HOVER_KD"    value="80"/>
    <define name="HOVER_KI"    value="20"/>
   
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="PGAIN" value="100"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="0"/>
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   
    <define name="JS_AXIS_MODE" value="4"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_DIRECT"/>
    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>
</airframe>
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Re: Configuration for apogee quadrotor.

Sergey Krukowski
Hi!

Are you sure your default PWM calibration is ok for you ESCs?
I would say, that:
min="800" neutral="1000" max="1900"
is a bit too low, the motors could really not start at all after arming.
For example, using SimonK ESCs the proper working default calibration is:
min="1000" neutral="1063" max="1863"

Best regards,
Sergey

> apogee_lc.xml <http://lists.paparazziuav.org/file/n16439/apogee_lc.xml>
>
> Hi,
>
> I am working on a apogee board, which in a quadrotor airframe. The  
> current
> config file does not work well. Cause, the there are only two motor  
> working
> while the throttle open. But the motors have reflection while the  
> joystick
> operates.
>
> I really appreciate anyone would let me know which part of the config  
> relate
> to the problem.
>
> Sorry for the copy and paste.
>
> <!DOCTYPE airframe SYSTEM &quot;../../airframe.dtd&quot;>
>
> <airframe name="apogee">
>   <firmware name="rotorcraft">
>     <define name="USE_I2C1"/>
>     <define name="USE_I2C2"/>
>     <define name="USE_BARO_BOARD"/>
>     <target name="ap" board="apogee_1.0">
>    </target>
>     <target name="nps" board="pc">
>       <subsystem name="fdm" type="jsbsim"/>
>     </target>
>
>     <subsystem name="motor_mixing"/>
>     <subsystem name="actuators" type="pwm">
>       <define name="SERVO_HZ" value="400"/>
>     </subsystem>
>
>     <subsystem name="radio_control" type="datalink"/>
>     <subsystem name="telemetry"     type="transparent"/>
>     <subsystem name="sdlog"/>
>
>     <subsystem name="imu"           type="apogee"/>
>    <subsystem name="stabilization" type="int_quat"/>
>     <subsystem name="ahrs"          type="int_cmpl_quat">
>       <define name="USE_MAGNETOMETER"/>
>       <define name="MODULE_mag_ak8975_UPDATE_AHRS"/>
>     </subsystem>
>    <subsystem name="ins"/>
>   </firmware>
>
>   <servos driver="Pwm">
>     <servo name="TOP_LEFT"     no="0" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="TOP_RIGHT"    no="1" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="BOTTOM_LEFT"  no="2" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="BOTTOM_RIGHT" no="3" min="800" neutral="1000"  
> max="1900"/>
>   </servos>
>
>   <commands>
>     <axis name="ROLL"   failsafe_value="0"/>
>     <axis name="PITCH"  failsafe_value="0"/>
>     <axis name="YAW"    failsafe_value="0"/>
>     <axis name="THRUST" failsafe_value="0"/>
>   </commands>
>
>   <section name="MIXING" prefix="MOTOR_MIXING_">
>     <define name="TRIM_ROLL"  value="0"/>
>     <define name="TRIM_PITCH" value="0"/>
>     <define name="TRIM_YAW"   value="0"/>
>     <define name="NB_MOTOR"   value="4"/>
>     <define name="SCALE"      value="256"/>
>
>    <define name="ROLL_COEF"   value="{  256, -256, -256,  256  }"/>
>     <define name="PITCH_COEF"  value="{  256,  256, -256, -256  }"/>
>     <define name="YAW_COEF"    value="{ -256,  256, -256,  256  }"/>
>     <define name="THRUST_COEF" value="{  256,  256,  256,  256  }"/>
>   </section>
>
>   <command_laws>
>     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
>     <set servo="TOP_LEFT"      value="motor_mixing.commands[0]"/>
>     <set servo="TOP_RIGHT"     value="motor_mixing.commands[1]"/>
>     <set servo="BOTTOM_LEFT"   value="motor_mixing.commands[2]"/>
>     <set servo="BOTTOM_RIGHT"  value="motor_mixing.commands[3]"/>
>   </command_laws>
>
>   <section name="IMU" prefix="IMU_">
>     <define name="BODY_TO_IMU_PHI"   value="0.0" unit="deg"/>
>     <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
>     <define name="BODY_TO_IMU_PSI"   value="0.0" unit="deg"/>
>
>     <define name="ACCEL_X_NEUTRAL" value="0"/>
>     <define name="ACCEL_Y_NEUTRAL" value="0"/>
>     <define name="ACCEL_Z_NEUTRAL" value="0"/>
>     <define name="ACCEL_X_SENS" value="2.46053275899" integer="16"/>
>     <define name="ACCEL_Y_SENS" value="2.45567151099" integer="16"/>
>     <define name="ACCEL_Z_SENS" value="2.44223710019" integer="16"/>
>
>     <define name="GYRO_P_NEUTRAL" value="0"/>
>     <define name="GYRO_Q_NEUTRAL" value="0"/>
>     <define name="GYRO_R_NEUTRAL" value="0"/>
>     <define name="GYRO_P_SENS" value="2.17953" integer="16"/>
>     <define name="GYRO_Q_SENS" value="2.17953" integer="16"/>
>     <define name="GYRO_R_SENS" value="2.17953" integer="16"/>
>
>     <define name="MAG_X_SIGN" value="1"/>
>     <define name="MAG_Y_SIGN" value="1"/>
>     <define name="MAG_Z_SIGN" value="1"/>
>
>     <define name="MAG_X_NEUTRAL" value="1264"/>
>     <define name="MAG_Y_NEUTRAL" value="-1258"/>
>     <define name="MAG_Z_NEUTRAL" value="1413"/>
>     <define name="MAG_X_SENS" value="1.03006422406" integer="16"/>
>     <define name="MAG_Y_SENS" value="0.938977337564" integer="16"/>
>     <define name="MAG_Z_SENS" value="1.14818205257" integer="16"/>
>   </section>
>
>  <section name="AHRS" prefix="AHRS_">
>     <define name="H_X" value="0.516264"/>
>     <define name="H_Y" value="-0.0602113"/>
>     <define name="H_Z" value="0.854311"/>
>   </section>
>
>   <section name="INS" prefix="INS_">
>   </section>
>
>   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
>    <define name="SP_MAX_P" value="10000"/>
>     <define name="SP_MAX_Q" value="10000"/>
>     <define name="SP_MAX_R" value="10000"/>
>     <define name="DEADBAND_P" value="20"/>
>     <define name="DEADBAND_Q" value="20"/>
>     <define name="DEADBAND_R" value="200"/>
>     <define name="REF_TAU" value="4"/>
>
>    <define name="GAIN_P" value="400"/>
>     <define name="GAIN_Q" value="400"/>
>     <define name="GAIN_R" value="350"/>
>
>     <define name="IGAIN_P" value="75"/>
>     <define name="IGAIN_Q" value="75"/>
>     <define name="IGAIN_R" value="50"/>
>
>    <define name="DDGAIN_P" value="300"/>
>     <define name="DDGAIN_Q" value="300"/>
>     <define name="DDGAIN_R" value="300"/>
>   </section>
>
>   <section name="STABILIZATION_ATTITUDE"  
> prefix="STABILIZATION_ATTITUDE_">
>     <define name="SP_MAX_PHI"          value="45" unit="deg"/>
>     <define name="SP_MAX_THETA"        value="45" unit="deg"/>
>     <define name="SP_MAX_R"            value="90" unit="deg/s"/>
>     <define name="SP_PSI_DELTA_LIMIT"  value="45" unit="deg"/>
>
>     <define name="DEADBAND_A"          value="0"/>
>     <define name="DEADBAND_E"          value="0"/>
>     <define name="DEADBAND_R"          value="250"/>
>
>    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
>     <define name="REF_ZETA_P"   value="0.85"/>
>     <define name="REF_MAX_P"    value="400." unit="deg/s"/>
>     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
>
>     <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
>     <define name="REF_ZETA_Q"   value="0.85"/>
>     <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
>     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
>
>     <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
>     <define name="REF_ZETA_R"   value="0.85"/>
>     <define name="REF_MAX_R"    value="180." unit="deg/s"/>
>     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
>
>    <define name="PHI_PGAIN"  value="507"/>
>     <define name="PHI_DGAIN"  value="274"/>
>     <define name="PHI_IGAIN"  value="79"/>
>
>     <define name="THETA_PGAIN"  value="507"/>
>     <define name="THETA_DGAIN"  value="274"/>
>     <define name="THETA_IGAIN"  value="79"/>
>
>     <define name="PSI_PGAIN"  value="300"/>
>     <define name="PSI_DGAIN"  value="160"/>
>     <define name="PSI_IGAIN"  value="50"/>
>
>    <define name="PHI_DDGAIN"   value="106"/>
>     <define name="THETA_DDGAIN" value="106"/>
>     <define name="PSI_DDGAIN"   value="106"/>
>   </section>
>
>   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
>     <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
>     <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
>     <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
>     <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
>     <define name="MAX_SUM_ERR" value="2000000"/>
>     <define name="HOVER_KP"    value="150"/>
>     <define name="HOVER_KD"    value="80"/>
>     <define name="HOVER_KI"    value="20"/>
>  </section>
>
>   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
>     <define name="MAX_BANK" value="20" unit="deg"/>
>     <define name="PGAIN" value="100"/>
>     <define name="DGAIN" value="100"/>
>     <define name="IGAIN" value="0"/>
>   </section>
>
>   <section name="SIMULATOR" prefix="NPS_">
>     <define name="ACTUATOR_NAMES"  value="{&quot;ne_motor&quot;,
> &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
>     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
>     <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
>     <define name="SENSORS_PARAMS"
> value="&quot;nps_sensors_params_default.h&quot;"/>
>    <define name="JS_AXIS_MODE" value="4"/>
>   </section>
>
>   <section name="AUTOPILOT">
>     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
>     <define name="MODE_AUTO1"  value="AP_MODE_HOVER_DIRECT"/>
>     <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
>   </section>
>
>   <section name="BAT">
>     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
>     <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
>     <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
>     <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
>   </section>
> </airframe>
>
>
>
>
> --
> View this message in context:  
> http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439.html
> Sent from the paparazzi-devel mailing list archive at Nabble.com.
>
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Re: Configuration for apogee quadrotor.

liangchao
Hi, Sergey:
Thanks for your reply. Firstly, the values are min="1000" neutral="1100" max="1900", the problem happens, so I changed the values, just want to see is there any change after modify the values.

I would like to know how to calibrate the ESCs?

BR
Chao
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Re: Configuration for apogee quadrotor.

Sergey Krukowski
I have no idea if there any calibration was added to main repo last time.  
I'm using modified motor_mixing.c file:
https://github.com/softsr/paparazzi/commit/afd725dec19fe312344187e6ce50b8a358b8421c
with extra definition in airframe file:
https://github.com/softsr/paparazzi/commit/c3f41589274238875ff6c571932574fa8412ab0e

> Hi, Sergey:
> Thanks for your reply. Firstly, the values are min="1000" neutral="1100"
> max="1900", the problem happens, so I changed the values, just want to  
> see
> is there any change after modify the values.
>
> I would like to know how to calibrate the ESCs?
>
> BR
> Chao
>
>
>
> --
> View this message in context:  
> http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439p16441.html
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Re: Configuration for apogee quadrotor.

liangchao
Thanks Sergey. I'll report the result soon.
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Re: Configuration for apogee quadrotor.

liangchao
In reply to this post by Sergey Krukowski
Hi, Sergey:

After adding the param <define name="SIMONK_CALIBRATE" value="1"/>, it seems to be a little better. For I make the airframe leaning to the front side a slice, the the two motors at the bottom side start to rotate. But while back to the balance, the two bottom side motors stops.

BR
Chao
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Re: Configuration for apogee quadrotor.

afishindouban
In reply to this post by liangchao

Mailbox 发送


On Sat, Nov 29, 2014 at 7:10 PM, liangchao <[hidden email]> wrote:

Thanks Sergey. I'll report the result soon.



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Re: Configuration for apogee quadrotor.

Sergey Krukowski
In reply to this post by liangchao
Well, that was only my suggestion, what could be a reason in your case. It  
very looks like a wrong ESC calibration.
But if you just added the SIMONK_CALIBRATE definition without changing  
motor_mixing.c file it will not change anything.

> Hi, Sergey:
>
> After adding the param <define name="SIMONK_CALIBRATE" value="1"/>, it  
> seems
> to be a little better. For I make the airframe leaning to the front side  
> a
> slice, the the two motors at the bottom side start to rotate. But while  
> back
> to the balance, the two bottom side motors stops.
>
> BR
> Chao
>
>
>
>
> --
> View this message in context:  
> http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439p16444.html
> Sent from the paparazzi-devel mailing list archive at Nabble.com.
>
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Re: Configuration for apogee quadrotor.

liangchao
Hi,Sergey:

I've added the code already, but the result seem to be the same.

BR
Chao
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Re: Configuration for apogee quadrotor.

Hwarm
Hi,
how many poles have you used motors?
Sometimes the  SIMONK ESC has a problem with pan cake motors and poles
account more than 14.
Regards

Heinrich

liangchao schrieb:

>Hi,Sergey:
>
>I've added the code already, but the result seem to be the same.
>
>BR
>Chao
>
>
>
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Re: Configuration for apogee quadrotor.

liangchao
Hi, Heinrich:

There are 12 poles in the motor. I am not sure the SIMONK have effect on this problem.

BR
Chao
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Re: Configuration for apogee quadrotor.

Hwarm
Hi Cha ,
12 poles are not the problem.

BR
Heinrich



liangchao schrieb:

>Hi, Heinrich:
>
>There are 12 poles in the motor. I am not sure the SIMONK have effect on
>this problem.
>
>BR
>Chao
>
>
>
>
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Re: Configuration for apogee quadrotor.

liangchao


I found that the vertical speed is not stable, move around from 0, while airframe laid on the table.

And alt is always 0.
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Re: Configuration for apogee quadrotor.

Hwarm
Hi,
can you see the raw pressure value in the messages?
If  no have a look between the differences in  makefiles of mukticopter
and normal  wing aircraft.

Regads
Heinrich

liangchao schrieb:

><http://lists.paparazziuav.org/file/n16452/57.png>
>
>I found that the vertical speed is not stable, move around from 0, while
>airframe laid on the table.
>
>And alt is always 0.
>
>
>
>--
>View this message in context: http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439p16452.html
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Re: Configuration for apogee quadrotor.

Sergey Krukowski
In reply to this post by liangchao
It is normal for fotorcraft firmware to display the height only after gpa fix. Afaik it's because of using absolute altitude instead of height.


-------- Исходное сообщение --------
От: "Prof. Dr.-Ing. Heinrich Warmers" <[hidden email]>
Дата: 01.12.2014 14:37 (GMT+01:00)
Кому: Paparazzi UAV devel list <[hidden email]>
Тема: Re: [Paparazzi-devel] Configuration for apogee quadrotor.


Hi,
can you see the raw pressure value in the messages?
If  no have a look between the differences in  makefiles of mukticopter
and normal  wing aircraft.

Regads
Heinrich

liangchao schrieb:

><http://lists.paparazziuav.org/file/n16452/57.png>
>
>I found that the vertical speed is not stable, move around from 0, while
>airframe laid on the table.
>
>And alt is always 0.
>
>
>
>--
>View this message in context: http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439p16452.html
>Sent from the paparazzi-devel mailing list archive at Nabble.com.
>
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>


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Re: Configuration for apogee quadrotor.

liangchao
Hi, Sergey. But if I don't install gps module.
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Re: Configuration for apogee quadrotor.

liangchao
In reply to this post by liangchao
Hi, All:

I found that the problem is because apogee board is LED as the front side.
As you can see the PFD screen shot, the sky and ground is head over feet.

So After change the config like this:

    <define name="BODY_TO_IMU_PHI"   value="0.0" unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="180.0" unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0.0" unit="deg"/>

It is display OK.
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Re: Configuration for apogee quadrotor.

Ali Jamei
In reply to this post by liangchao
hi liangchao,
I have been trynig to use apogee board for quad rotors too. i wrote an xml file for configuration. everything seems fine  except the barometer.although i didn't test it on an actual air frame. i don't get any climb rate messages at all. i have seen the picture of your gcs here that shows a positive climb rate of 0.3. i copied  your exact xml configuration file that you pasted here just to test but it is still the same results and no climb rate data is available. my apogee board barometer  doesn't seem to work properly. when i assign BARO_LED to one of the board's leds, it doesn't even turn on. i even tried to install paparazzi again because i had made some changes in mine. but it didn't work either. i had two apogee boards. i tested on both of them but still the same result.
am i missing something here??
did you see the same issue in any of your experiments with apogee board ??    
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Re: Configuration for apogee quadrotor.

liangchao
Hi, John:

That is what make me confused. Cause the airframe lied on the table without moving a slice. I am here looking into it for what make it float around.

Have you check the baro value from raw_sensor?

BR
Chao
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Re: Configuration for apogee quadrotor.

flixr
Administrator
Hi guys,

could you please post the _exact_ paparazzi_version you are using together with your airframe file?
Maybe we can help out here...

Cheers, Felix

On Tue, Dec 9, 2014 at 10:02 AM, liangchao <[hidden email]> wrote:
Hi, John:

That is what make me confused. Cause the airframe lied on the table without
moving a slice. I am here looking into it for what make it float around.

Have you check the baro value from raw_sensor?

BR
Chao



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