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  • Oct 17 15:47

    gautierhattenberger on pprz_start_script

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  • Oct 17 09:39
    noether commented #2467
  • Oct 17 09:38

    gautierhattenberger on master

    pass all original argv paramete… (compare)

  • Oct 17 09:15
    noether commented #2467
  • Oct 17 09:13

    noether on master

    [pprz] change the old paparazzi… Merge pull request #2467 from p… (compare)

  • Oct 17 09:13
    noether closed #2467
  • Oct 17 09:00
    Travis paparazzi/paparazzi@520e1e3 (pprz_start_script) passed (7694)
  • Oct 17 08:28
    gautierhattenberger review_requested #2467
  • Oct 17 08:28
    gautierhattenberger labeled #2467
  • Oct 17 08:28
    gautierhattenberger opened #2467
  • Oct 17 08:26

    gautierhattenberger on pprz_start_script

    [pprz] change the old paparazzi… (compare)

  • Oct 17 08:09

    gautierhattenberger on master

    [build] reduce a bit stacks siz… (compare)

  • Oct 15 21:03

    gautierhattenberger on fix-semaphore

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  • Oct 15 21:03

    gautierhattenberger on master

    [bug] missing parenthesis in mc… [bug] redundant definition of v… [fix] remove warning with defau… and 3 more (compare)

  • Oct 15 21:03
    gautierhattenberger closed #2466
  • Oct 14 21:35
    Travis paparazzi/paparazzi (fix-semaphore) passed (7690)
  • Oct 14 21:03
    gautierhattenberger labeled #2466
  • Oct 14 21:03
    gautierhattenberger review_requested #2466
  • Oct 14 21:03
    gautierhattenberger opened #2466
  • Oct 14 21:03
    gautierhattenberger labeled #2466
Stephen Hulme
@audaxes
@fvantienen Thank you - I will test weather permitting in the near future.
cvam0000
@cvam0000
@OpenUAS thankyou so much buddy i'm sending you the email @ info@openuas.org thankyou once again :)
OpenUAS
@OpenUAS
@cvam0000 have not seen your email yet...
cvam0000
@cvam0000
hey @OpenUAS I did it 2 days ago , sending the mail again to info@openuas.org no problem :)
OpenUAS
@OpenUAS
@cvam0000 yeah, i've got it, overlooked it somehow, get a lot of emails a day... So yes will send a hardware package your way...
PanayiotaCyI
@PanayiotaCyI
Hello! I would like to use BN-220 GPS module (chipset u-blox M8030-KT) with Chimera v1.00 autopilot. I have tried using the u-blox UCenter module in the airframe, but I was not successful. Has anybody tried that successfully? Furthermore, are there any instructions oh how to manually configure this GPS module with U-Center so it is functional with paparazzi and chimera autopilot? Thank you in advance!
saeed mozafari
@saeedmozafari
@gautierhattenberger Heard some news from madrid #IMAV2019…… Congratulation on showing professional team work. Good job enac paparazzi team!
Panayiota
@PanayiotaCy
Hello! I would like to use BN-220 GPS module (chipset u-blox M8030-KT) with Chimera v1.00 autopilot. I have tried using the u-blox UCenter module in the airframe, but I was not successful. Has anybody tried that successfully? Furthermore, are there any instructions oh how to manually configure this GPS module with U-Center so it is functional with paparazzi and chimera autopilot? Thank you in advance!
Gautier Hattenberger
@gautierhattenberger
@PanayiotaCy I have not been using the ucenter module for a long time, so I can't guarantee that it is still working for all ublox chips. You can indeed do a manual configuration and store it so that it starts straight with correct parameters.
The configuration is actually slightly different for fixedwing and rotorcraft. Which kind of platform are you using ?
You can check this as a start point: http://wiki.paparazziuav.org/wiki/Sensors/GPS#Manual_Configuration
ChristosKeleshis
@ChristosKeleshis

@PanayiotaCy I have not been using the ucenter module for a long time, so I can't guarantee that it is still working for all ublox chips. You can indeed do a manual configuration and store it so that it starts straight with correct parameters.
The configuration is actually slightly different for fixedwing and rotorcraft. Which kind of platform are you using ?
You can check this as a start point: http://wiki.paparazziuav.org/wiki/Sensors/GPS#Manual_Configuration

Hello Gautier. We are using the chimeras on the same fixed wing aircraft we use for AQABA campaign

Horace
@ElizHorace_twitter
Hi, may I know whether I can calibrate ESCs of a quadrotor using Lisa M with a satellite receiver?
Gautier Hattenberger
@gautierhattenberger
@ChristosKeleshis can you tell me the type of Ublox module you are using (M6 or M8 or something else) and then I'll try to generate a working conf for that
Panayiota
@PanayiotaCy
@gautierhattenberger Dear Gautier, we are using the chipset u-blox M8030-KT (M8) (GPS module BN-220). https://www.u-blox.com/en/product/ubx-m8030-kx-dr-series
djchris261
@djchris261

Hello everybody,
I am trying to implement the total energy control loops for the Parrot Disco, however in the simulation the Drone keeps throttling at 100%. I found that this comes from the fact the UAV is unable to calculate the airspeed. In energy_ctrl.c the stateGetAirspeed_f() function keeps returning 0 (line 364). Also in state.c stateCalcAirspeed_f(), none of the bits are set for both AIRSPEED_F and AIRSPEED_I, the function is simply returning using the else statement on line 1333.

In my airframe I defined both the module and set the USE_AIRSPEED to 1:

<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
</module>

<define name="USE_AIRSPEED" value="1"/>

Is there any other step I am simply missing?
Thanks in advance,
Chris.

Gautier Hattenberger
@gautierhattenberger
@djchris261 Are you trying to use the sim or nps simulator ? Do you have the module air_data in your airframe file ?
djchris261
@djchris261
@gautierhattenberger I am using the sim simulator and yes, the air_data module is in my airframe
Gautier Hattenberger
@gautierhattenberger

@djchris261 it seems that the driver of the sensor your are using for airspeed is not supporting correctly the old simulator. So you have to options:

  • use the nps simulator
  • use different modules for ap and sim targets (for that, move your current module as a child of the ap target node, and load <module name="airspeed" type="adc"/> for the sim target)

the actual issue is that airspeed drivers are not really consistent regarding airspeed update, this is in the todo list to fix that part

djchris261
@djchris261
@gautierhattenberger By loading <module name="airspeed" type="adc"/> it works already. I will try to set up the nps sim later today. Thank you! :)
Gautier Hattenberger
@gautierhattenberger
@PanayiotaCyI you can try to configure your GPS with this file
it will most likely complain that it is not exactly the same version
also the baudrate for this one is 115200, so you may have to change either on the module or in your airframe if it doesn't match
joezie
@joezie

Hey guys! I'm a newbie in paparazzi and now I'm looking for some insights to help me with understanding some codes. Appreciate any ideas and helps!

  1. In motor_mixing.c, "yaw_authority" is the bound for variable "boudned_yaw_cmd". I can't figure out why "yaw_authority" is set in this way. Any insight for its meaning?
    Link for "yaw_authority": https://github.com/paparazzi/paparazzi/blob/ba283792a09c85f6e36427726a6f139a8a189870/sw/airborne/subsystems/actuators/motor_mixing.c#L229-L232

  2. And in optical_flow_landing.c, the bounds for "thrust" varies in different situations (e.g (0.6nominal_thrustMAX_PPRZ,0.9MAX_PPRZ), (0.25nominal_thrust*MAX_PPRZ,MAX_PPRZ)). I'm wondering why we use numbers like 0.6, 0.9, and 0.25 instead of other numbers. Is there any theory that supports this?
    Links for thrust bounds:
    https://github.com/paparazzi/paparazzi/blob/ba283792a09c85f6e36427726a6f139a8a189870/sw/airborne/modules/ctrl/optical_flow_landing.c#L507
    https://github.com/paparazzi/paparazzi/blob/ba283792a09c85f6e36427726a6f139a8a189870/sw/airborne/modules/ctrl/optical_flow_landing.c#L492
    https://github.com/paparazzi/paparazzi/blob/ba283792a09c85f6e36427726a6f139a8a189870/sw/airborne/modules/ctrl/optical_flow_landing.c#L570

Thanks:)

PanayiotaCyI
@PanayiotaCyI
@gautierhattenberger Dear Gautier, Thanks a lot! The BN-220 GPS module works with paparazzi with this new configuration file you sent. Cheers!
Gautier Hattenberger
@gautierhattenberger
@PanayiotaCyI you're welcome!
Gautier Hattenberger
@gautierhattenberger
@joezie
  1. The is a priority order for the commands. We consider that roll, pitch and thrust are more important than yaw, so the max yaw command is computed from the remaining control range once other commands are applied.
  2. It is probably just values that provide good results with ARDrone2, maybe they could be made configurable if different settings where required on other frames. But seems they are computed from the nominal throttle point which can be adapted to the rotorcraft being used, I guess it is not strictly needed. Regarding the theory being the control, the reference of the article is at the beginning of the file.
joezie
@joezie
@gautierhattenberger Thank you so much for your help!
mjagasiv
@mjagasiv
Hi -- I wanted to know if the platform can be used with any off-the-shelf drones. I have a bugs2se by mjxR/C and I wanted to expand on the software/functions of this drone. thanks!!
Gautier Hattenberger
@gautierhattenberger
@mjagasiv Sorry, this model is not supported. And they don't provide any information about the onboard electronics, so I don't think we will support it. You can find a list of the supported hardware here: https://github.com/paparazzi/paparazzi/tree/master/conf/boards
Hector Garcia de Marina
@noether
@gautierhattenberger , I have done "make clean" and launch ppz with the new python script.
It triggers the following error
Traceback (most recent call last):
File "paparazzi", line 20, in <module>
os.execve(path, args, env)
ValueError: execve: argv must not be empty
Gautier Hattenberger
@gautierhattenberger
strange, it is not complaining here
Hector Garcia de Marina
@noether
when I launch it with ipython, it works fine
because it uses other python libs etc (another ecosystem)
let me check which python I invoke from the shell , probably we should warn about the version mm, let me check it
ok, it crashes
when I execute it with python3
with python2 it is fine
Gautier Hattenberger
@gautierhattenberger
hum, it was working on 16.04 but not 18.04
Hector Garcia de Marina
@noether
with python3 ?
Gautier Hattenberger
@gautierhattenberger
python3 on 16.04 works
we have to make it work with python3 on all platform anyway
Hector Garcia de Marina
@noether
at certain point something must have changed in os.execve
here I executed it with Python 3.6.8
Hector Garcia de Marina
@noether
and no idea which version of the module OS I have xD
Gautier Hattenberger
@gautierhattenberger
I made a quick fix by passing all original parameters, seems to work on both ubuntu version for me
let me know if it is better for you now
Hector Garcia de Marina
@noether
@gautierhattenberger , yes, it works now fine :P
djchris261
@djchris261

Hey,
I am running a module which has to optimise a certain trajectory a couple amount of times. For this I am using the sim simulation together with a predefined sector. As soon as the UAV leaves the sector I want to reset the state to the center using the stateSetPositionUtm_f() function. However, the gps module constantly overwrites this new position in ins_alt_float.c (line 251) with older gps data.

My next plan would be to overwrite the gps data itself as well, however, I first wanted to ask here whether there is maybe another solution to this problem?

Thanks in advance,
Chris.