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  • 18:46
    OpenUAS commented #2427
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  • Nov 23 21:49

    gautierhattenberger on master

    Organize multi vehicles (#2473)… (compare)

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    gautierhattenberger on fix-build-dep

    fix more dep for fast and recen… (compare)

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    gautierhattenberger on master

    [chibios] make log file closing… (compare)

Hector Garcia de Marina
@noether
I will try it tomorrow, thanks :P
maybe for our infinite to-do list. To implement the option of x2, x3, .. xn in the flight log player :P
Hector Garcia de Marina
@noether
@gautierhattenberger today is Paparazzi day for me xD. I am polishing a PR but first I will write the entry of the module that I will push. It is about an algorithm for a team of aircraft to track a target. The aircraft can fly at different speeds and the algorithm keeps the centroid at the (moving) target. Like with the formation control, the algorithm needs special messages (including air to air). However, I would not like to add them to messages.xml. I think it is better if there is smb interested, then that person should include the messages himself. Where do you think I should post them? As a comment in the (where?) code? (for sure in the wiki). Suggestions?
Gautier Hattenberger
@gautierhattenberger
@noether I agree that this is not well suited for custom messages. Maybe the best place is the module xml file in the doc node. You could have basic instructions here to add the messages and a link to the wiki for more details.
Hector Garcia de Marina
@noether
ahh true, that is a good point, oki
Hector Garcia de Marina
@noether
@OpenUAS . I am writing this entry in the wiki https://wiki.paparazziuav.org/wiki/Module/collective_tracking_control , but I forgot how to make it show up in the "modules menu" automatically
Hector Garcia de Marina
@noether
I remember that you were assisting me in the past with the wki
Gautier Hattenberger
@gautierhattenberger
@noether if you look at the source of the Modules page, you will see the header to have the right panel (<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>) and also at the end the tag to get the page labelled correctly ([[Category:Modules]])
Hector Garcia de Marina
@noether
ahh I see
Hector Garcia de Marina
@noether
@gautierhattenberger I started to play with https://github.com/thotro/arduino-dw1000 . I see that you were contributing here? However, it says it is not "actively" maintained anymore. Do you still use this software? or are there other alternatives?
I believe you cannot transmit and receive ""at the same time"" ? So you have to handle this via software at the Arduino part right?
Another question, it looks like or you transmit a msg, or you receive a msg or you have a range estimation. You have to change the "mode" manually everytime you want one of these behaviors
is that true?
Hector Garcia de Marina
@noether
okei, I see, the DW1000 "only" send/receives a byte and some time stamps. If you want to have more complex communication, calculate ranges at the same time, etc. I have to do it on the Arduino side. I thought the decawave provided more "services" xD
Gautier Hattenberger
@gautierhattenberger
@noether You got the idea, most of the high level work (ranging and messages) are done outside of the decawave chip. The arduino library provide all the basic functionalities but it is not mixing them (like ranging and sending with the same service started). So I guess you have to switch or rewrite some code.
OpenUAS
@OpenUAS
@noether I see you fixed your categorytree issue in Wiki. Yes, I'm slow to respond, so much work going on with the TU delft Lab at the moment...
Hector Garcia de Marina
@noether
@OpenUAS ahh no worries xD, thanks anyway :P
OpenUAS
@OpenUAS
@noether, nice collective tracking control, have to make some time to testfly it with multiple Disco's
Hector Garcia de Marina
@noether
oh it works really well, you can do it with only two Disco's. Set a fixed point, have two discos with different speeds. And the centroid of the team converges to the fixed point
just tell me if you need assistance
OpenUAS
@OpenUAS
Thx
Hector Garcia de Marina
@noether
Still I will need to push one or two improvements. It works better when all the aircraft start at the same time the corresponding navigation block. But you already solved that I remember :P
Jeff Gibboney
@jgibboney
Hi all, I've been trying to bring up an octorotor + gimbal on a Pixhawk 1 (v2.4.8) using the Iris airframe file as a base (v5.14 stable). However, I can only get 4 PWMs to work (mains 1-4). The wiki says all 8 + the 6 on the FBW are supported, do you have any tips you could share? The only suspicious things I can see are in the px4io.h board file, PWMs 5-8 on TIM3 are commented out (to use with Spektrum?). I also don't have any experience with separate FBW so any help on using its PWMs would be appreciated. Thank you!
OpenUAS
@OpenUAS
@jgibboney make sure you flash the FBW MCU of the Pixhawk1 first. A link to your airframe file would be helpful
Hector Garcia de Marina
@noether
@jgibboney any progress, did you manage?
Shuo Li
@ls90911
Hi guys, I am now with the latest master branch. But when I build bebop_default, INS does not give me x,y and z estimation. They are all 0. From the airframe file, there is an "USE_SONAR" defined. So I guess the sonar reading should be sent to INS. Does someone know this?
Hector Garcia de Marina
@noether
@ls90911 you need a source for the positioning such as GPS or Optitrack. Are you flying indoors?
Hector Garcia de Marina
@noether
@OpenUAS , maybe you can help me xD. I have a pixhawk2 (cube) on my desk. I wanted to pay around a bit. Then, I compiled choosing <target name="ap" board="px4fmu_2.4_chibios"> (and I did not add <module name="px4_flash"> )
I uploaded sucessfully I think, at least it went through the process when I pressed "upload". However, now, I cannot upload anything anymore
No Paparazzi CDC device found, looking further.
No original PX4 CDC firmware found either.
Error: no compatible usb device found...
the dfu also does not find any device
when I power up the cube I can see briefly (for 4 or 5 secs [ 9930.050345] usb 1-2: Product: PX4 BL FMU v2.x ). So the guy is there?
my question is... do I have a nice paperweight with the shape of a pixhawk? xD
Hector Garcia de Marina
@noether
This is what I had the first (and only time) I could upload the firmware to the pixhawk

Original PX4 firmware CDC device found at port: /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v2.x_0-if00
Uploading AP using original PX4 firmware...
If the uploading does not start within a few seconds, please replug the usb (power cycle the board).

/home/noether/Workspace/paparazzi/sw/tools/px4/px_uploader.py --port "/dev/serial/by-id/usb-3D_Robotics,/dev/serial/by-id/pci-3D_Robotics" /home/noether/Workspace/paparazzi/var/aircrafts/Wing5_PX4/ap/obj/ap.px4

WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)

Loaded firmware for 9,0, size: 134552 bytes, waiting for the bootloader...
If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.
Found board 9,0 bootloader rev 5 on /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v2.x_0-if00
ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff

Erase : [ ] 0.0%
Erase : [====================] 100.0%

Program: [========= ] 47.9%
Program: [=================== ] 95.9%
Program: [====================] 100.0%

Verify : [ ] 1.0%
Verify : [====================] 100.0%
Rebooting.

it really shows up /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v2.x_0-if00 for a few seconds (not even 1 haha)
I see, I manage to program it again. It is just very brief the time that you have to press upload u_U
not even one or two seconds
Hector Garcia de Marina
@noether
@OpenUAS , so now my second question would be... what kind of radio_control is supported already? The fmu protests with spektrum or sbus (not with ppm). I also do not know whether there is the IO micro in the cube?
Hector Garcia de Marina
@noether
ok, I managed finally to make it work. These guys are weird numbering their hardware right? How is that possible that 2.1 is a newer version than 2.4 u_U
it seems we are missing the .h for the board of the cube, for both fmu and io, it looks like not very inviting to write one xD
OpenUAS
@OpenUAS
@noether I had a busy busy week so let see. Writing a boardfile looks inviting to me ;) but I have to score a Pixhawk cub, since only have Pixhawk's 1 (~20 of them in fact) and a Pixhawk 4 (and a douzen otheres but no Cube ATM, let see if I can find a cube, I recall I one had one. BTW For the numbereing 2.1 it is for the Cube version iteration . the v2.4 is the PX orignal base FMU design version. The idea was to have one Hardware version per FMU schematice design. The PCB board layout and eg pinout organisation one could then alter but still the boardfile of the FMU 2.4 would work. same for FMU v4 (e.g. Pixracer) On the website of PX it is explaine by lorenz somewhere.
@noether What "color" of the cube do you have ? Yellow, Orange or Black(seriously ,not joking...) A picture of your FMU posted here would also be of help...
OpenUAS
@OpenUAS
@ls90911 your issue is fixed ;)
OpenUAS
@OpenUAS
@noether The Pixhawk 2.x canot be bricked in pure sense, JTAG flashing is possible. I do have the correct cables and BMPs etc only not a Pixhawk v2.1 CUBE ATM so I can not try it to descrive the process exactly eg https://www.youtube.com/watch?v=fB-exDm-rTI
OpenUAS
@OpenUAS
@jgibboney I've just create a full featured Iris Plus Airframe, still need to test it on my Iris. FYI: As I recall on the FBW chip only 4 PWM outputs active per default since the overhead of sending the InterMcu messages was a bit high and if one does not need the extra PWM channels it save serial InterMCU bandwidth bytes... it is still possible to also use all 6 direct PWM out (non-interMCU) will toy around with it a bit time permitting. Also to test the Gimbal a bit
alexozov
@alexozov_twitter
i want the program of Tiny 2.1 autopilot
rv44
@rv44
Hello. I have 3 orx r410x (orange) and when I put the gas, it cuts after a few seconds. is it defective or is it my fault? else do not have this problem. Thanks for your help
OpenUAS
@OpenUAS
@alexozov_twitter you mean your have this Autopilot board https://wiki.paparazziuav.org/wiki/Tiny/v2.11 and want to run paparazzi one it? If so copy and paste this one liner from here https://wiki.paparazziuav.org/wiki/Installation the above [DONE] and you have "the program of Tiny 2.1 autopilot"
@rv44 More info needed, Do your run Paparazzi on your autopilot board? what board do you have?, how is it connected to your board?, what are the failsave setting of your receiver? where can we read your airframe file etc. More information given = a more helpful response possible