paparazzi/discuss

v5.16_stable released!

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

Piotr Esden-Tempski

@esden

http://www.st.com/web/en/resource/technical/document/datasheet/DM00037051.pdf <- page 32

Screen Shot 2016-04-09 at 6.59.37 PM.png

Dan Berry

@dgberry1

@esden cool thanks

Dan Berry

@dgberry1

Is there a way out find out if the messages I created, were flashed to the autopilot?

Freek van Tienen

@fvantienen

got a quick question.. If I have a sensor with Magneto and Pitot together which is external.. how should I add the ID to the abi interface?

under differential pressure, or under Magneto, or under IMU?

Next to this the magnetometer also has a different BODY_TO_IMU.
For now I’ve implemented a static struct OrientationReps body_to_mag; in the module itself, but we should think about this for the future how to implement multiple IMU’s more nicely

Felix Ruess

@flixr

just choose an ID that is unique, so not already used for any of the sensors it provides

yeah, if you have good ideas on how to handle multi imu better: paparazzi/paparazzi#1585

paparazzi/paparazzi#197

Freek van Tienen

@fvantienen

tnx ;) yeah will look at it because we are currently a bit strugling with this

@gautierhattenberger in papget.ml on this line: https://github.com/paparazzi/paparazzi/blob/master/sw/lib/ocaml/papget.ml#L80 it makes use of the PprzLink.string_of_value but I would like to have an option to use the PprzLink.formatted_string_of_value. Because if I’m correct this would add the option to show for example a flight_mode string and not the number etc.

Felix Ruess

@flixr

the main thing is that we have to find a nice way to configure it

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