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Hector Garcia de Marina
@noether
in principle, if the hw flies APM, it should be possible to have it working with Paparazzi. However, it might happen that the cfg files for such hardware is missing and you need to do it yourself (probably this is better once you have a little experience with Pprz)
and this is the right place for this kind of questions :P
Hector Garcia de Marina
@noether
by the way @dezertefer , Gautier gave a talk recently about Paparazzi. Maybe some of your questions are answered there
Gautier Hattenberger
@gautierhattenberger
@dezertefer I'm also working on the support of the Matek F765-Wing board, but it is not tested yet
dezertefer
@dezertefer
@gautierhattenberger @noether I have regular Pixhawk 2.4 from holybro and 3dr pixhawk mini at the moment, I saw guide for 2.4 and even compiled the software, with no luck for uploading that to pixhawk. Seems that I'm missing basic structure/code/concept or something.
dezertefer
@dezertefer
Thanks for the video, that's cool. It brings some new questions: did somebody try to use more "industrial" sensors and equipment for workflow for example analog devices IMUs or Bosch? What is the main difference between pprzlink and mavlink? How suitable the system for real application (meaning that each aircraft may fly more than 150 hours a month)?
Hector Garcia de Marina
@noether

@gautierhattenberger @noether I have regular Pixhawk 2.4 from holybro and 3dr pixhawk mini at the moment, I saw guide for 2.4 and even compiled the software, with no luck for uploading that to pixhawk. Seems that I'm missing basic structure/code/concept or something.

Maybe @OpenUAS has more information about these boards, but I think I would not waste time on them with Paparazzi.

Thanks for the video, that's cool. It brings some new questions: did somebody try to use more "industrial" sensors and equipment for workflow for example analog devices IMUs or Bosch? What is the main difference between pprzlink and mavlink? How suitable the system for real application (meaning that each aircraft may fly more than 150 hours a month)?

I used Paparazzi with an old ADIS 16405 in the past (more than 10 years ago? xD). Paparazzi allows you practically to have whatever payload/sensor, you have to write the driver ofc. This is smth that you get use to it naturally once you get a bit of experience

Hector Garcia de Marina
@noether
about durability? That of course will depend on the quality of your hardware, its maintenance, etc. Regarding the sw, if you fly with a "stable" version, that is okei, you can fly for hours in a row without problem.
Gautier Hattenberger
@gautierhattenberger
@dezertefer we should have an old driver for "analog" imu, not sure if it used by anyone at the moment.
About the differences between mavlink and pprzlink, I would say not much in the sense that they are both providing the same elements: a set of messages, a data format, one or more encapsulation protocol, and API to use them.
However they are not compatible since all these elements are slightly different, reflecting the history of each projects. The current pprzlink format (v2) is not very far from mavlink v1.
dezertefer
@dezertefer
Which matek f405 should I buy then? wing version or regular one?
dezertefer
@dezertefer
Do you recommend to use that or try to struggle and learn with hardware that I already have?
Gautier Hattenberger
@gautierhattenberger
It is the f405-wing at the moment. In general it is easier to use a board with a single processor to start with. Which board model do you have exactly ?
Itay
@bmitay4
hey
can someone help me in private?
Gautier Hattenberger
@gautierhattenberger
@bmitay4 can you at least tell what kind of issue you're having ?
dezertefer
@dezertefer
I’m okay with f405-wing seems that I have it locally, just neet to buy.
does somebody have tunings for x6 ?) I have an old one somewhere it may survive couple of crashes haha.
Gautier Hattenberger
@gautierhattenberger
@dezertefer if you mean X6 skywalker planes, you can check this file : https://github.com/enacuavlab/paparazzi/blob/nephelae/conf/airframes/MTO/x6_cloud_sensor-10.xml
just remove the sensors modules that you don't need
dezertefer
@dezertefer
thank you much.
dronionic
@dronionic_twitter

I'm in a similar boat as @dezertefer, I want to get Paparazzi working for an octo on an easily available (in USA) autopilot. I have a Pixhawk 1 v2.4.8, and also a Pixhawk 4. I've been following the wiki and using @OpenUAS 's iris plus airframe file as a basis for the pixhawk 1, but I can only ever get 4 motor pwm outputs to work, and the FBW only successfully flashes 1 out of 10 times. I've tried different cables and USB3 vs 3 ports, but usually after:
AP responded with: FBWOKOK
Uploading using Paparazzi firmware....
the make process freezes and I have to kill paparazzi center. I've also tried the TUDelft iris_indi airframe. If the Matek board is supported I'd try that too.

On Pixhawk 1, I notice that the px4io_2.4.h board file has PWM outputs >4 commented out bc it says the same timer, #3, is used for spektrum. I plan to use sbus so I've tried enabling the PWM lines and commenting out the spektrum block, does this seem like the right path? It compiles but so far I can't flash fbw.

Any info on that or how to more reliably flash the fbw (or reset it -- I've tried using QGroundControl to restore PX4 or Ardu -- maybe using the SD card?) would be helpful, thank you!

Gautier Hattenberger
@gautierhattenberger
@dronionic_twitter flashing the FBW part through AP is pretty sensitive and since we are reusing the PX4 bootloader without really keeping it up-to-date, it might be not very stable. I'm not using this type of dual-MCU boards in my lab, maybe @OpenUAS or @fvantienen can provide some help here.
dronionic
@dronionic_twitter
@gautierhattenberger OK thanks, good to know. I guess the pixhawk 4 would be the same (fbw and ap), right? There's a tudelft Mentor airframe file but it only has an ap target. Do you recommend any other autopilot boards to try?
Gautier Hattenberger
@gautierhattenberger
@dronionic_twitter I think @noether is happy with the Pixracer board
amirhtbt
@amirhtbt
@gautierhattenberger Hi, I want to simulate formation flight of two rotorcrafts but I didn't find any guide in wiki.paparazzi, How can I do that?
Nilay Sheth
@nilay994
Hi! Happy new year :D
Does anyone know if the APIs in the file sw/airborne/arch/linux/rt_priority.h require one to run RT_PREEMPT or a similar kernel patch?
Without such a kernel patch (i.e. while using generic linux) is it fair enough to remove the limits at /etc/security/limits.conf to get a more realtime behavior?
Gautier Hattenberger
@gautierhattenberger
@amirhtbt the module called "formation_flight" is only for fixedwing. At the moment, there is the module FC_Rotor (http://docs.paparazziuav.org/v5.16/module__fc_rotor.html) that takes commands from the ground, but I'm not sure it is documented by @noether
There is also a module called nav_fish, but this is a preliminary work, still very limited.
amirhtbt
@amirhtbt
@gautierhattenberger Tnx, Do you know how the module follow.xml works?
Gautier Hattenberger
@gautierhattenberger
this is the "historic" formation flight control, that you can call from the follow instruction from the flight plan, but only for fixedwing
amirhtbt
@amirhtbt
image.png
@gautierhattenberger
Gautier Hattenberger
@gautierhattenberger
hum, my bad, this one is the new one, probably from TUDelft people. I never used it myself so I forgot about this one
amirhtbt
@amirhtbt
Do you know someone from TUDelft so that I mention?!
Gautier Hattenberger
@gautierhattenberger
this one is just moving a waypoint according to the position of an other rotorcraft (adding an offset), so you just "stay" on the waypoint
Hector Garcia de Marina
@noether
@amirhtbt yes, it is on my wishlist for 2021 to document the formation control for rotorcraft xD
right now, fc_rotor without documentation might be hard to understand
I mean, understand how to use it
dezertefer
@dezertefer
I have an idea what If I will test f765 setup with some assistance ? It will push the development and bring me experience with paparazzi?
Gautier Hattenberger
@gautierhattenberger
@dezertefer the dev branch for the matekF765 is here (Enac repo, MatekF765-WING branch): https://github.com/enacuavlab/paparazzi/tree/MatekF765-WING
For now, I can compile and flash the binary by DFU, but then nothing run. I need to wire the SWD to see what is happening. Feel free to test it and check my configuration, I tried to have the same than ardupilot, but I might have done an error.
RobertG333
@RobertG333

Hello everyone !
LisaM2 is back from repair (new controller) equipped with the Luftboot loader, LEDS cycle up/down.
Now, unfortunately software download via USB does not work like before.

I am clueless. Anyone may help ? Thanks a lot for your support !

dmesg finds Lisa attached to the USB port

9565.417892] usb 3-1: new full-speed USB device number 5 using xhci_hcd
[ 9565.567827] usb 3-1: New USB device found, idVendor=1d50, idProduct=600f
[ 9565.567833] usb 3-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 9565.567836] usb 3-1: Product: Lisa/M (Upgrade) V1.1
[ 9565.567839] usb 3-1: Manufacturer: Transition Robotics Inc.
[ 9565.567841] usb 3-1: SerialNumber: NSERIAL 575710435350333930FFD305

good so far,
but PPRZ center won't start downloading any of the LisaM2 airframe files

make[1]: Leaving directory '/home/robert/paparazzi/sw/airborne'
cd sw/airborne; make TARGET=ap upload
make[1]: Entering directory '/home/robert/paparazzi/sw/airborne'
Using "arch/stm32/lisa-m.ld" as ldscript for target "ap".
Using stm32 mem dfu loader
/usr/bin/python /home/robert/paparazzi/sw/tools/dfu/stm32_mem.py /home/robert/paparazzi/var/aircrafts/Quad_LisaM_2/ap/ap.bin

... nothing happens here
--- when I disconnect Lisa it says

Using device : ID 1d50:600f Transition Robotics Inc. - Lisa/M (Upgrade) V1.1 - NSERIAL 575710435350333930FFD305
Programming memory from 0x08002000...
[0%=====================50%=====================100%]
Traceback (most recent call last):
File "/home/robert/paparazzi/sw/tools/dfu/stm32_mem.py", line 246, in <module>
stm32_erase(target, addr)
File "/home/robert/paparazzi/sw/tools/dfu/stm32_mem.py", line 47, in stm32_erase
status = dev.get_status()
File "/home/robert/paparazzi/sw/tools/dfu/dfu.py", line 117, in get_status
6, index=self.index, timeout=2000)
File "/usr/lib/python2.7/dist-packages/usb/legacy.py", line 205, in controlMsg
timeout = timeout)
File "/usr/lib/python2.7/dist-packages/usb/core.py", line 971, in ctrl_transfer
self.get_timeout(timeout))
File "/usr/lib/python2.7/dist-packages/usb/backend/libusb1.py", line 819, in ctrl_transfer
timeout))
File "/usr/lib/python2.7/dist-packages/usb/backend/libusb1.py", line 552, in _check
raise USBError(_strerror(ret), ret, _libusb_errno[ret])
usb.core.USBError: [Errno 5] Input/Output Error
Exception usb.core.USBError: USBError(19, u'No such device (it may have been disconnected)') in <bound method Device.
del__ of <DEVICE ID 1d50:600f on Bus 003 Address 007>> ignored
/home/robert/paparazzi/conf/Makefile.stm32-upload:54: recipe for target 'upload' failed

(why is it in bold?)
no idea
Gautier Hattenberger
@gautierhattenberger
@RobertG333 Did you check the permissions ? http://wiki.paparazziuav.org/wiki/Luftboot#Luftboot_USB_permissions
Eventually, try the JTAG or SERIAL loading to check first that everything is correct: http://wiki.paparazziuav.org/wiki/Lisa/M_v2.0#Uploading_new_software
This piece of code for flashing is really old, but I don't know if it is possible or not to use an other more "standard" tool like dfu-util. If you have a F4 on it, you can try to flash without luftboot: http://wiki.paparazziuav.org/wiki/Lisa/M_v2.0#Flashing
Robermonti
@Robermonti
Hi all. I am trying to create my own nav block but I cant find a list of flight parameters sintax.
I would like to make a heading or course hold block but I cant find the present heading code
In older versions of paparazzi the parameter was "estimator_hspeed_dir" but it must have changed in last versions. Anyone knows the new parameter for present course or heading?
Gautier Hattenberger
@gautierhattenberger
@Robermonti Now, with have a "state interface" to access the state of the aircraft: http://docs.paparazziuav.org/latest/group__state__interface.html
In your case, the old hspeed_dir is now stateGetHorizontalSpeedDir_f() (http://docs.paparazziuav.org/latest/group__state__velocity.html#ga6f8b83126a235daea584aa9ce97f7fac)
You also have the built-in heading instruction (only for fixedwing aircraft): http://wiki.paparazziuav.org/wiki/Flight_Plans#Heading
Robermonti
@Robermonti
Thank you!!