paparazzi/discuss

v5.18_stable released! Starting Paparazzi 6

diardanoraihan

@diardanoraihan

thanks for respon @gautierhattenberger
did you mean what i write in rc_commands section ?

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="ROLL" value="ROLL"/>
</rc_commands>

Gautier Hattenberger

@gautierhattenberger

yes, except the last line that should be <set command="ROLL" value="@ROLL"/>, RC and COMMANDS should be the same in manual mode (not in other modes)

diardanoraihan

@diardanoraihan

yes, of course that must be @ROLL, my bad typing :)
what do you mean "not in other modes" ? are the values different ?

Gautier Hattenberger

@gautierhattenberger

in other modes, the commands are set by the autopilot, not directly by the RC, so values can be different

diardanoraihan

@diardanoraihan

actually that values came from AUTO1 mode mr @gautierhattenberger

as you can see the currently status is AUTO1

i got headache when this question comes to me : " Why the default mode is AUTO1 ?" i've done nothing but AUTO1 seems appearing first.

Gautier Hattenberger

@gautierhattenberger

then values in RC and COMMANDS messages can be different

can you change mode or not ?

diardanoraihan

@diardanoraihan

when i try to change the Flight mode via pprz_mode to MANUAL, it doesn't want to change

not mr @gautierhattenberger , help me :(

i use this to change the mode

with my FLAP switch in DX6i, and nothing happen

so when i try to change it via GCS in Notebook > Settings > Mode > pprz_mode > MANUAL, but it doesn't want to change to MANUAL, it keeps staying in AUTO1

Gautier Hattenberger

@gautierhattenberger

maybe it is just that it is looking at the wrong channel

because if it reads 0, you'll have AUTO1 as a result

you can't change from the GCS when the RC is ON since RC has priority

first check that the channel corresponding to radio flap is the correct one

since you have a spektrum RC, it is fixed and should be channel 5

(starting from 0, so sixth channel)

diardanoraihan

@diardanoraihan

Alright then mr @gautierhattenberger
Thanks :)

Shubham Vyas

@kill2win

How does one send data from a program running on the GCS computer to the drone ?

Felix Ruess

@flixr

@kill2win you can basically send any message of the datalink class to the drone

if you are running your program on a host in the ground network, then the easiest is to publish that message on the Ivy bus: https://wiki.paparazziuav.org/wiki/Ivy
you can e.g. do that easily from a python script using https://github.com/paparazzi/pprzlink/blob/master/lib/v1.0/python/ivy_msg_interface.py

Felix Ruess

@flixr

what kind of data do you want to send?

Shubham Vyas

@kill2win

I would like to recieve the video stream to opencv, make decisions and send those back (in the form of an array)

Felix Ruess

@flixr

ah, so we are talking about a Parrot drone?
video you can receive via RTP, the command you send up would be via the normal PPRZ protocol
depending on what exactly you want to send you either have to create your own message or use one of the existing ones
see http://docs.paparazziuav.org/latest/paparazzi_messages.html#DATALINK_CLASS

there is e.g. the possibility to issue high level commands like goto position, move at velocity, etc...

or more low level attitude commands

Shubham Vyas

@kill2win

I can recieve the video. And I'd like to send high level commands. (Go to)

Felix Ruess

@flixr

you could put the quadrotor in guided mode and send GUIDED_SETPOINT_NED messages, see
https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/python/guided_mode_example.py

adamczer

@adamczer

Hello all, I am currently trying to compile the paparazzi source code into a shared library, but am having difficulty in making this work. Does anyone here have experience in doing this or could provide guidance on where the appropriate arguments could be added to the build? I tried multiple places as early in the build however could not get it to create the shared library.

Felix Ruess

@flixr

hi @adamczer shared lib of what exactly?

adamczer

@adamczer

@flixr, I am trying to make the airborne and simulation a shared library. The reason for this is to eventually port the paparazzi functionality to java. My desire is to call things over jni and eventually move the airborne modules over to java, and continue to use JSBsim through jni for simulation purposes.

Felix Ruess

@flixr

hm... the simulation is not meant to be compiled into a shared lib (as it contains a main)

you could try to add it to https://github.com/paparazzi/paparazzi/blob/master/conf/Makefile.nps

maybe something like

$(OBJDIR)/simsitl.so : $($(TARGET).objs)
    $(Q)$(CXX) $(CXXFLAGS) -shared -o $@ $($(TARGET).objs) $(LDFLAGS)

not sure though if it really makes sense to compile all that into one lib

adamczer

@adamczer

correct, by simulation I meant the calls from paparazzi to the JSBSim, I would have to alter the run to functionality of the ui to call the newly created jar. Thanks for the advice I will try that make file.

Shubham Vyas

@kill2win

@flixr thank you. Will try that

Felix Ruess

@flixr

@adamczer you would probably need to #ifdef out the main in https://github.com/paparazzi/paparazzi/blob/master/sw/simulator/nps/nps_main.c#L92 and set the options yourself and then periodically call nps_main_periodic

I have to admit that I don't quite understand the reason for calling this from java though...

but then I'm not familiar with Java/C integration at all...

adamczer

@adamczer

The nps main init/ execution cycle would be replaced by a Java execution. All the calls that exist from this point of entry could then be called directly allowing for testing of framework prior to completing a full Java implementation. Its basically so I can swap out one component at a time and make sure I did not mess up something while porting. Does that make more sense?

Felix Ruess

@flixr

the approach does make more sense now, yes :-)
still wondering why you want to port it to java though... but maybe that's just because I'm biased against java ;-)

adamczer

@adamczer

Thanks again for the help

Felix Ruess

@flixr

no problem, hope that something like that works out

Joseph

@yoosofpiran

hi I am new to the paparazzi I was following installing instruction

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