Hi all, I'm trying to get my tricopter to run on paparazzi. Therefore, I've adapted the CDW tricopter airframe file and changed the motor control from MKK to PWM, as I want test the rig for the instance without the I2C control option. Motors control works well, however I am struggling with the tail servo. It just doesn't work on paparazzi when connected via the autopilot, directly connected to the PWM of the RC receiver it works perfectly fine.<airframe name="KroozSD Tricopter"> <firmware name="rotorcraft"> ..... <subsystem name="radio_control" type="ppm"> <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO10"/> <!-- --> </subsystem> <subsystem name="actuators" type="pwm"> <define name="SERVO_HZ" value="400"/> </subsystem> ...... </firmware> <servos driver="Pwm"> <servo name="TAIL" no="5" min="1000" neutral="1500" max="2000"/> <servo name="BACK" no="2" min="988" neutral="1000" max="2012"/> <servo name="FRONTRIGHT" no="1" min="988" neutral="1000" max="2012"/> <servo name="FRONTLEFT" no="0" min="988" neutral="1000" max="2012"/> </servos> <commands> <axis name="PITCH" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/> <axis name="YAW" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/> </commands> <command_laws> <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/> <set servo="FRONTLEFT" value="motor_mixing.commands[0]"/> <set servo="FRONTRIGHT" value="motor_mixing.commands[1]"/> <set servo="BACK" value="motor_mixing.commands[2]"/> <set servo="TAIL" value="@YAW"/> </command_laws> <rc_commands> <set command="YAW" value="@YAW"/> </rc_commands> ..... </airframe> The radio XML looks as follows: <radio name="FrSky X9D + X8R receiver 12ch SBus connection" data_min="900" data_max="2100" sync_min ="5000" sync_max ="28000" pulse_type="POSITIVE"> <channel ctl="A" function="THROTTLE" min="998" neutral="998" max="2011" average="0"/> <channel ctl="B" function="YAW" min="990" neutral="1500" max="2011" average="0"/> .... <channel ctl="gain1" function="XKILL" min="2050" neutral="1496" max="948" average="1"/> .... </radio> What am I missing here? Thanks for your help, guys, I really appreciate your support ! Pascal _______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
Hi, Try to set the tail servo frequency to 50 Hz. Loïc Le 19 avr. 2016 04:38, "Pascal Fust" <[hidden email]> a écrit :
_______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
Hi Loïc, thanks for your advice, I'll try this, however, I've been using the similar setup (400Hz) on my fixed-wing paparazzi UAV with the same RC equipment without any problem. Pascal 2016-04-19 7:12 GMT+02:00 Loic Drumettaz <[hidden email]>:
_______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
Just in case this would be your issue: please note that in paparazzi the tail servo (yaw) only starts working when the throttle is more than 10%. Below that yaw is arming. Next: I'm not sure the <rc_commands are needed/used/good. The tail is just list all other commands, except no mixing is needed. -Christophe On Tue, Apr 19, 2016 at 9:13 AM, Pascal Fust <[hidden email]> wrote:
_______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
@Christophe: Very good hint, as I was running the motors at low speed so far during the tests. Therefore, I might not have been above the 10% threshold. I'll check that out this evening... Regarding the rc_commands: First, I haven't had this in the file, but added it later as the tail servo didn't work. I'll definitely remove it again, as you pointed out. Thanks, Pascal 2016-04-19 9:30 GMT+02:00 Christophe De Wagter <[hidden email]>:
_______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
Thanks to you all for your ideas. I changed to lower servo frequencies (although the servo was supposed to run at 330 Hz), removed the rc_commands section, all without success. Then I was thinking about the power supply of the servo, as I was running the servo like the ESCs directly from the autopilot. Switching the BEC from the RC receiver to the PWM section on the autopilot (KroozSD), speeding up above 10% and it's working. Looking forward to the maiden flight, now! :-) Cheers, Pascal 2016-04-19 9:50 GMT+02:00 Pascal Fust <[hidden email]>:
_______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
Free forum by Nabble | Edit this page |