paparazzi/discuss

v5.14_stable released!

Dan Berry

@dgberry1

Run version: v5.9_devel-359-g63a7b79
Build version: v5.9_devel-359-g63a7b79

Felix Ruess

@flixr

I mean your linux distro

Dan Berry

@dgberry1

Ubuntu 14.04

dfu-util is version 0.5

Felix Ruess

@flixr

then you can use dfu-util from my ppa (I backported 0.8 to 14.04): https://launchpad.net/~flixr/+archive/ubuntu/backports

Dan Berry

@dgberry1

my dfu-util is version 0.9

it is still not uploading

make1: Leaving directory /home/dan/paparazzi/sw/airborne' cd sw/airborne; make TARGET=ap upload Using "arch/stm32/elle0.ld" as ldscript for target "ap". make[1]: Entering directory/home/dan/paparazzi/sw/airborne'
Using dfu-util at 0x08000000
dfu-util 0.9

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2016 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

dfu-util: Invalid DFU suffix signature
dfu-util: A valid DFU suffix will be required in a future dfu-util release!!!
dfu-util: Cannot open DFU device 0483:df11
dfu-util: No DFU capable USB device available
make1: [upload] Error 74
make1: Leaving directory `/home/dan/paparazzi/sw/airborne'
make: [ap.upload] Error 2
make: Leaving directory `/home/dan/paparazzi'

FAILED 'make -C /home/dan/paparazzi -f Makefile.ac AIRCRAFT=Fury FLASH_MODE=DFU-UTIL ap.upload' with code 2

Dan Berry

@dgberry1

using lsusb, I can see the device.

Bus 003 Device 005: ID 0483:df11 STMicroelectronics STM Device in DFU Mode

Felix Ruess

@flixr

dfu-util: Cannot open DFU device 0483:df11

do you have access rights to it?

Dan Berry

@dgberry1

I forgot how to check

I was going to try a different USB cable too

Felix Ruess

@flixr

ls -l /dev/yourdevice

dmesg | tail should show the shorter path to the device from when you connected it

Dan Berry

@dgberry1

[ 461.718677] usb 3-1.2: Product: STM32 BOOTLOADER
[ 461.718680] usb 3-1.2: Manufacturer: STMicroelectronics
[ 461.718682] usb 3-1.2: SerialNumber: 307532553332
[ 476.361482] usb 3-1.2: USB disconnect, device number 10
[ 477.266109] usb 1-4: new full-speed USB device number 4 using xhci_hcd
[ 477.395444] usb 1-4: New USB device found, idVendor=0483, idProduct=df11
[ 477.395451] usb 1-4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 477.395455] usb 1-4: Product: STM32 BOOTLOADER
[ 477.395458] usb 1-4: Manufacturer: STMicroelectronics
[ 477.395460] usb 1-4: SerialNumber: 307532553332

I think i'm missing udev rules

I added the udev rule and I am running

Now off to calibrate

Felix Ruess

@flixr

yeah, our udev rules allow access to dfu devices for the plugdev group

Dan Berry

@dgberry1

@flixr Thanks. I could have more issues, but I'm getting the troubleshooting side of this figured out.

Dan Berry

@dgberry1

Calibration complete. Now flight test

HooperFly

@hooperfly

Six flying robots arming and disarming their motors using the Flying Robot Commander - https://www.instagram.com/p/BDuem4jOiRY

HooperFly

@hooperfly

Daylight version of FRC arming/disarming six multirotors: https://www.instagram.com/p/BDwlFTkuidg/

Deon Blaauw

@deonblaauw

Hi guys, question about accelerometer vibration on the Bebop 2. There is a video tutorial showing that you need to place the drone on the ground, place your hand on top of it, then increase the throttle. The idea is to see less than 4m/s/s vibration on the accelerometers (https://www.youtube.com/watch?v=eojAPZvT1Ck&index=3&list=PL_KSX9GOn2P_LUXJOQxc6PLr7c7eTUs98). When I did it on my drone however, the vibration profile hit 6-7 m/s/s. Is this something I should be worried about? If so, are there any filters I should be looking at adjusting before flight? The video is aimed at the ARdrone, and I'm using the Bebop 2, so not sure if the 4m/s/s threshold technically applies in my case... I did fly with the Bebop 2 using the stock Bebop 2 AP and it was all fine so I'm pretty sure that the mechanical damping is fine. Just want to make 100% sure before I start flight testing.

Bart Slinger

@bartslinger

You might want to set AHRS_GRAVITY_HEURISTIC_FACTOR to 0. Must say that I have not tried it on bebop2, but I recommend it for a first test flight in which you try to hover.

diardanoraihan

@diardanoraihan

Hello guys, the master, is there any suggestion for us about how to choose the appropriate control subsystem ( normal/adaptive/new/ energy/etc) for flapping wings (fixed wing) ? especially in type of stabilization ( attitude / adaptive )
What is the big different between both of them (attitude & adaptive ) ?
Is there any more explanation beside in the wiki so that we can understand any further about the technic of implementation ? Some papers will be helpfull actually
Thank you :)

Deon Blaauw

@deonblaauw

@bartslinger Thanks, will give it a try.

diardanoraihan

@diardanoraihan

please any suggestion guys ? :)

diardanoraihan

@diardanoraihan

In http://wiki.paparazziuav.org/wiki/Control_Loops#Fixed-wing_autopilot, we much talk about throttle, pitch, and roll loop, but no yaw. My project doesn't use roll deflection to turn, instead just Yaw deflection. So is there any possibility to make this can work in AUTO2 ?

Thanks again :)

HooperFly

@hooperfly

Hope you are enjoying your birthday! :+1: :cake: :balloon:

Dan Berry

@dgberry1

I've created new messages in the datalink section of the message.xml file. I then added it to the /sw/ext/pprzlink/message_definitions/v1.0 folder. ( kept the original, just in case of problems). Then in the paparazzi folder I ran "make clean" and then "make". This is the error that was created when doing the make.

Generate C messages (Python) at location /home/dan/paparazzi/var/include/pprzlink
Validation skipped for message_definitions/v1.0/messages.xml.
Parsing message_definitions/v1.0/messages.xml
Found 244 PPRZLink message types in XML file message_definitions/v1.0/messages.xml
Generating C implementation in /home/dan/paparazzi/var/include/pprzlink/messages.h
PPRZXML telemetry class from message_definitions/v1.0/messages.xml (244 message)
Copying fixed headers
Validation skipped for message_definitions/v1.0/messages.xml.
Parsing message_definitions/v1.0/messages.xml
Traceback (most recent call last):
File "./tools/generator/gen_messages.py", line 105, in <module>
gen_messages(args)
File "./tools/generator/gen_messages.py", line 70, in gen_messages
xml = pprz_parse.PPRZXML(fname, opts.class_name, opts.protocol)
File "/home/dan/paparazzi/sw/ext/pprzlink/tools/generator/pprzparse.py", line 148, in _init
p.ParseFile(f)
File "/home/dan/paparazzi/sw/ext/pprzlink/tools/generator/pprz_parse.py", line 124, in start_element
self.message[-1].fields.append(PPRZField(attrs['name'], attrs['type'], self))
File "/home/dan/paparazzi/sw/ext/pprzlink/tools/generator/pprzparse.py", line 65, in _init
raise PPRZParseError("unknown type '%s'" % type)
pprz_parse.PPRZParseError: unknown type 'string'
make1: [pygen_messages] Error 1
make: [pprzlink_protocol] Error 2

Gautier Hattenberger

@gautierhattenberger

@dgberry1 you cannot use string as type for telemetry or datalink messages (only the ground messages can do that). But you can define a char[] type, then you can only use one field like this and place it in last position (variable length array). Last option is char[x] where x is a fixed size so it as to be large enough and you can have several fields like this in your message.

Dan Berry

@dgberry1

I modified my message.XML and was able to compile and flash. :-)

Now I have a question and I know it is an it depends on need, but are there any messages that need to be there? I'm trying to slow the telemetry activity for a particular application. I am thinking of creating multiple message.XML files so I can have one for this one application and the other for everything else.

I will have to modify messages update to get there too.

Gautier Hattenberger

@gautierhattenberger

It is not the messages definition that you should change, but the telemetry file that tells the period of the sending
http://wiki.paparazziuav.org/wiki/Telemetry

Stephen Hulme

@audaxes

Bebop2 using a recent master repo proceeds from STDBY wp to S1 wp in an orderly manner, after the 5th photo shot it careers out of control and starts moving around in circles not associated the the survey flight plan. It responds to a land at home command and eventually comes to a cart wheel stop not far from the TD wp - damaged but repaired today with a kit bought a while back to repair the first crash of this type a month ago. However, Bebop flying the same flight plan and an older repo has no issues whatsoever and completes the photo shoot survey legs without issue. Any help appreciated.

HooperFly

@hooperfly

Global Synchronized Autonomy(GSA) #1 is on the horizon. Here's a github repo to hold the various tools for use during the event: https://github.com/hooperfly/global-synchronized-autonomy

HooperFly

@hooperfly

Beta 0.2.2 of the Flying Robot Commander now includes the ability to express color attributes via the frc_conf.xml configuration file. - https://github.com/paparazzi/flyingrobotcommander

Dan Berry

@dgberry1

How fast can the telemetry port run on the Elle0? it is currently set at 57600bps

it will be direct connected during operation, not through a radio link