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More Sphinx doc (#2583)
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
This commit is contained in:
Fabien-B
GitHub
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.. tutorials main_tutorials beginner add_drones
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.. tutorials beginner add_drones
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=========================
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Add Drones
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials beginner airframe_setup
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.. tutorials beginner airframe_setup
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======================
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Airframe Setup
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials beginner flight_plan
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.. tutorials beginner flight_plan
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======================
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Flight Plan Setup
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials beginner gcs_setup
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.. tutorials beginner gcs_setup
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======================
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GCS Setup
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials beginner
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.. tutorials beginner
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======================
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Beginner
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@@ -7,12 +7,13 @@ Beginner
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TBD
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.. toctree ::
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gcs_setup
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airframe_setup
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add_drones
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flight_plan_setup
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testing_and_tuning
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sensor_calibration
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use_joystick
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gcs_setup
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airframe_setup
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add_drones
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flight_plan_setup
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testing_and_tuning
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sensor_calibration
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.. tutorials main_tutorials beginner sensor_calibration
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.. tutorials beginner sensor_calibration
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======================
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Sensor Calibration
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======================
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TBD
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The Accelerometers and magnetometers must be calibrated for the drone to fly correctly.
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Accelerometer calibration
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==========================
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1. Flash the board with your normal AP firmware (if it is not already on it.)
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2. Switch to the "raw sensors" telemetry mode in the GCS via Settings->Telemetry and make sure that *Server* is running without the ``-n`` option.
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.. figure:: raw_sensors.jpg
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:alt: How to set raw sensors telemetry
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:align: center
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Set raw sensors telemetry mode
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3. Move your IMU/airframe into different positions to record relevant measurements for each IMU axis.
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+ It is important that you get the min/max sensor values on each axis: turn and hold the IMU on all six sides of the 'cube' for about 10 seconds per IMU axis.
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+ During theses 10 seconds, the IMU must be absolutely static. Don't hold it in your hands as you will introduce too much vibrations, prefer holding it on a wall.
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.. note::
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We talk about the **IMU axis** here, not the drone's axis. So be carrefull if IMU axis are not aligned with the drone's axis.
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.. figure:: acc_calibration.jpg
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:alt: Orientations during accelerometer calibration
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:align: center
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Orientations during accelerometer calibration
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4. Stop the server so it will write the log file (to var/logs).
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5. Run the Python script on it to get your calibration coefficients and add them to your airframe file:
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+ run the script:
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``sw/tools/calibration/calibrate.py -s ACCEL -p var/logs/YY_MM_DD__hh_mm_ss.data``
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.. note::
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The calibration script needs scipy and matplotlib python libraries. If you don't have these, install them with ``sudo apt install python3-scipy python3-matplotlib``.
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+ If the log file contains logs from more than one aircraft, you will need to use the ``-i <ac_id>`` option, e.g :
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``sw/tools/calibration/calibrate.py -i 50 -s ACCEL -p var/logs/YY_MM_DD__hh_mm_ss.data``
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+ If you kept the ``-p`` option, the script will show the plots.
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+ Add (or replace) the output values from this script to the airframe file in the `IMU` section. For example:
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.. code-block:: xml
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="-40"/>
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<define name="ACCEL_Y_NEUTRAL" value="32"/>
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<define name="ACCEL_Z_NEUTRAL" value="-33"/>
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<define name="ACCEL_X_SENS" value="2.45746358482" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.46030721866" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.46583755829" integer="16"/>
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...
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</section>
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.. note::
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For the accelerometer calibration, your autopilot board does not necessarily need to be in your drone's airframe as it depends only on the specific accelerometer chip you have.
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Magnetometer calibration
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=========================
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The procedure is very much similar to accelerometer calibration with two differences:
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+ On step 3, Slowly spin your aircraft around all axes. Ideally you would spin it around all axes until you have densely covered the whole sphere with magnetometer measurements. (See figure below)
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+ On step 5, use the ``MAG`` argument:
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``sw/tools/calibration/calibrate.py -s MAG -p var/logs/YY_MM_DD__hh_mm_ss.data``
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.. figure:: mag_calibration.png
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:alt: A good calibration dataset
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:align: center
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A good calibration set
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Copy the XML output in the *IMU* section of your airframe file.
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.. note::
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For the magnetometer calibration, your autopilot board **needs** to be in your drone's airframe as it depends on all interferences of the environment, like the wires around the magnetometer, the position of the battery, and maybe the position of saturn in the sky.
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IMU orientation
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================
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The drone must know how your IMU is oriented.
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The drone axis are defined like so:
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- Z is vertical down, aligned with the gravity
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- X is toward the front of the drone
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- Y is to right of the drone
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.. figure:: plane_axis.png
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:alt: Plane axis
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:align: center
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Drone axis
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According to how you mounted the autopilot board/IMU in the drone, the IMU axes are not necessarily aligned with the drone's axes.
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Check if the axes are correct by watching the IMU_ACCEL message:
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- Put your drone on its natural attitude. **az** value should be approx **-10**, **ax** and **ay** being around **0**.
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- Nose down **ax** is **-10**, **ay** and **az** are **0**
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- Right wing down, **ay** is **-10**, **ax** and **az** are **0**
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If the signs are not correct (10 instead of -10), change them in the following lines :
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.. code-block:: xml
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<section name="IMU" prefix="IMU_">
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...
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<define name="ACCEL_X_SIGN" value="-1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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...
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</section>
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.. note::
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If the axis are not correct (e.g. X and Y should be swaped), you can switch them, however this is driver dependent. Here is an example for the Apogee autopilot, where X and Y are swaped:
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.. code-block:: xml
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<section name="IMU" prefix="IMU_">
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...
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<define name="APOGEE_CHAN_X" value="1"/>
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<define name="APOGEE_CHAN_Y" value="0"/>
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<define name="APOGEE_CHAN_Z" value="2"/>
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...
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</section>
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You have to do the same thing for the GYRO signs. It is very likely that you will use the same signs as the ACCEL signs.
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.. code-block:: xml
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<section name="IMU" prefix="IMU_">
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...
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<define name="GYRO_P_SIGN" value="-1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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...
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</section>
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To check gyro signs, watch the IMU_GYRO message:
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- **gp** must be positive when banking to the right (gq and gr approx 0)
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- **gq** must be positive when pitching up (gp and gr approx 0)
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- **gr** must be positive when heading clockwise from top view (gq and gq approx 0)
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.. note::
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The gyrometers measures rotation **speeds**, so if e.g. you bank the drone 45° right and stop, **gp** will increase, then come back to 0.
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The resulting axes must form direct (right-handed) coordinates. That means that you will most probaly have a even number of changes: either two negative signs, or one negative sign and two axes swaped.
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Finally, flash the drone with your modifications, then check the PFD. put the drone down and wait for 20-40s. If it turn, you have a bad setting. Then Check the directions of pitch up, pitch down, and rolls. For each check, rotate the drone by approx 20 degrees and wait. If the PFD move back, you probably miss a negative sign.
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The IMU may not be perfectly aligned with the drone body. In this case, you can use the BODY_TO_IMU defines:
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.. code-block:: xml
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<section name="IMU" prefix="IMU_">
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...
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<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="3.0" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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...
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</section>
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- PHI is the roll axis (around X)
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- THETA is along the pitch axis (around Y)
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- PSI is along the yaw axis (around Z)
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In the example above from a fixedwing, BODY_TO_IMU_THETA is set to 3 degrees for the drone to be slightly pitching up.
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials beginner testing_and_tuning
|
||||
.. tutorials beginner testing_and_tuning
|
||||
|
||||
======================
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||||
Testing and Tuning
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@@ -0,0 +1,28 @@
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.. tutorials beginner gcs_setup
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===============
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Use a Joystick
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===============
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You can use a joystick to command your drone via the datalink if you don't have an RC transmitter.
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Currently supported joysticks are listed in the ``paparazzi/conf/joystick`` directory.
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Learn how to configure a new joystick on this page: :doc:`../intermediate/create_joystick`
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+ Open the airframe file of you aircraft and change the *radio_control* type to *datalink* : ``<module name="radio_control" type="datalink"/>``. Build and upload to the drone.
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.. note:: For the first time you try it, remove the propeller blades from you drone : if your configuration is wrong, motors could start spinning and hurt you!
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+ Start a session as usual for your drone
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+ Start the "Joystick" tool : Tools->Joystick, and stop the program (it might already be crashed because of a bad options)
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+ Edit the Joystick command : ``$PAPARAZZI_SRC/sw/ground_segment/joystick/input2ivy -ac AC_NAME JOYSTICK_CONFIG_FILE.xml``.
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+ Replace **AC_NAME** by the name of the aircraft (it is probably good as it takes the current A/C), and replace **JOYSTICK_CONFIG_FILE** by a filename from ``paparazzi/conf/joystick``.
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.. attention:: Initial sticks positions default to middle position until the axis has been moved. Move all axis to avoid bad surprises.
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You can also use the ``-c`` option (c meaning *check*) to prevent sending messages with bad values. Messages will start beeing sent only when all axis received events.
|
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|
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``$PAPARAZZI_SRC/sw/ground_segment/joystick/input2ivy -ac AC_NAME JOYSTICK_CONFIG_FILE.xml -c``
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.. note:: Save the programs as a new session to avoid doing that all over again every time!
|
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@@ -0,0 +1,185 @@
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.. tutorials intermediate create_joystick
|
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|
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====================================
|
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Create a new joystick configuration
|
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====================================
|
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|
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New joystick configurations can be added in the ``paparazzi/conf/joystick`` directory.
|
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|
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Profile a joystick
|
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==================
|
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|
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Test if your joystick is recognized: plug your joystick then run ``dmesg``. The message is different for every device, but the last lines should look like these::
|
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|
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[49174.642275] usb 1-1: new low-speed USB device number 8 using xhci_hcd
|
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[49174.812307] usb 1-1: New USB device found, idVendor=046d, idProduct=c214, bcdDevice= 2.05
|
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[49174.812309] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
|
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[49174.812310] usb 1-1: Product: Logitech Attack 3
|
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[49174.812311] usb 1-1: Manufacturer: Logitech
|
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[49174.823264] input: Logitech Logitech Attack 3 as /devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1:1.0/0003:046D:C214.000B/input/input37
|
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[49174.823608] hid-generic 0003:046D:C214.000B: input,hidraw4: USB HID v1.10 Joystick [Logitech Logitech Attack 3] on usb-0000:00:14.0-1/input0
|
||||
|
||||
|
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Launch ``./sw/ground_segment/joystick/test_stick``. It will display joystick informations, then print current status::
|
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|
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Available button: 5 (0x5)
|
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Available hats: 0 (0x0)
|
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Available axes: 4 (0x4)
|
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Axis 0 : parameters = [-32768,32768]
|
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Axis 1 : parameters = [-32768,32768]
|
||||
Axis 2 : parameters = [-32768,32768]
|
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Axis 3 : parameters = [-32768,32768]
|
||||
Input device name: "Amazing Joystick" on SDL device "0"
|
||||
buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
|
||||
buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
|
||||
buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
|
||||
buttons 0 0 0 0 0 | hat 0 | axes 1 -40 0 0
|
||||
buttons 0 0 0 0 0 | hat 0 | axes -33 -83 0 0
|
||||
buttons 0 0 0 0 0 | hat 0 | axes -101 0 0 0
|
||||
|
||||
.. note:: Your joystick may need to be calibrated. Go to the :ref:`Calibration` section below.
|
||||
|
||||
Create a new file for your joystick in the ``paparazzi/conf/joystick`` directory with the syntax of the following example:
|
||||
|
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.. code-block:: xml
|
||||
|
||||
<joystick>
|
||||
<input>
|
||||
<axis index="0" name="roll" deadband="10" limit="1.00" exponent="0.7" trim="0"/>
|
||||
<axis index="1" name="pitch"/>
|
||||
<axis index="2" name="yaw"/>
|
||||
<axis index="3" name="thrust"/>
|
||||
<button index="0" name="fire"/>
|
||||
<button index="1" name="top_center"/>
|
||||
<button index="2" name="top_left"/>
|
||||
<button index="3" name="top_right"/>
|
||||
<button index="4" name="far_left"/>
|
||||
</input>
|
||||
|
||||
<variables>
|
||||
<var name="mode" default="0"/>
|
||||
<set var="mode" value="0" on_event="top_left"/>
|
||||
<set var="mode" value="1" on_event="top_center"/>
|
||||
<set var="mode" value="2" on_event="top_right"/>
|
||||
</variables>
|
||||
|
||||
<messages period="0.01">
|
||||
|
||||
<message class="datalink" name="RC_4CH" send_always="true">
|
||||
<field name="mode" value="mode"/>
|
||||
<field name="throttle" value="Fit(-thrust,-127,127,0,127)"/>
|
||||
<field name="roll" value="roll"/>
|
||||
<field name="yaw" value="yaw"/>
|
||||
<field name="pitch" value="pitch"/>
|
||||
</message>
|
||||
|
||||
|
||||
<!-- resurrect throttle on fire button -->
|
||||
<message class="ground" name="DL_SETTING" on_event="fire">
|
||||
<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
|
||||
<field name="value" value="0"/>
|
||||
</message>
|
||||
|
||||
<!-- kill throttle on far_left button -->
|
||||
<message class="ground" name="DL_SETTING" on_event="far_left">
|
||||
<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
|
||||
<field name="value" value="1"/>
|
||||
</message>
|
||||
|
||||
</messages>
|
||||
|
||||
</joystick>
|
||||
|
||||
|
||||
Inputs
|
||||
------
|
||||
|
||||
Edit the *input* section according to your info given by *test_stick*. There are 3 kind of inputs :
|
||||
|
||||
- *axis*: "analog" stick that range from a min to a max value,
|
||||
- *hat*: tiny stick or arrows that can have 8 directions (up, down, left, right, up-left, ...),
|
||||
- *buttons*.
|
||||
|
||||
*name* and *index* attributes are mandatory for all.
|
||||
|
||||
Axis has 4 optionnal attributes:
|
||||
|
||||
- *deadband*: input values within the deadband output 0. Range in [0, 127].
|
||||
- *exponent*: gives precise control around center values, and greater speed at high values. Range in [0, 1.0]. 0 has no effect, 1.0 has maximum effect.
|
||||
- *limit*: limit the range of the output values, in percent. Range in [0, 1.0]. 1.0 has no effect.
|
||||
- *trim*: set offset in output values. Range in [-127, 127].
|
||||
|
||||
|
||||
These attributes are applied in that order : deadband, exponent, limit, trim.
|
||||
|
||||
Variables
|
||||
---------
|
||||
|
||||
In the *variables* section, you can define integer variables with the *var* tag, with the *name* and *default* attributes. The *set* tag allows to set a value to a variable on an event. An event is the name of a button or a hat.
|
||||
|
||||
Messages
|
||||
--------
|
||||
|
||||
The *period* attribute on the *messages* section is the period in seconds at which inputs will be checked.
|
||||
|
||||
In this section, you define which messages will be sent, the value of each field, and the conditions required to send the message.
|
||||
|
||||
The *message* tag has two required attributes: the *name* and *class* of the message, and two optionnal attributes : *send_always* and *on_event*.
|
||||
|
||||
*send_always* is a boolean that default to *false*. If set to *true*, messages will keep be sent at the *period* rate. If set to *false*, message will be sent only when one of its field change value.
|
||||
|
||||
*on_event* defines the event/condition required to send the message. Complexes conditions are evaluated. Here are some examples:
|
||||
|
||||
- ``on_event="button11 || button10"``
|
||||
- ``on_event="(button11 || button10) && pitch > 100"``
|
||||
|
||||
In the message node, all fields must be specified except the *ac_id* field, that is filled by *input2ivy*.
|
||||
|
||||
*value* is a "C like" expression made of axis and variables names, operators, and a set of utily functions.
|
||||
|
||||
Thoses functions are:
|
||||
|
||||
- ``Scale(toto, min, max)`` : scale toto from default min/max values [-128, 127] to [*min*, *max*]
|
||||
- ``Fit(x, min_in, max_in, min_out, max_out)`` : scale *x* from *min_in* *max_in* to *min_out*, *max_out*
|
||||
- ``Bound(x, min, max)`` : bound x between *min* and *max*
|
||||
- ``PprzMode(x)`` : scale input value to [0;1;2]. usefull for RC mode.
|
||||
- ``JoystickID()`` : return the joystick ID.
|
||||
- ``IndexOfEnum(NAME)`` : return the index of the enum member *NAME*
|
||||
- ``IndexOfSetting('setting_name')`` : return the index of the setting *setting_name*.
|
||||
- ``IndexOfBlock('block_name')`` : return the index of the block *block_name*.
|
||||
- ``HatCentered(hat_name)``, ``HatUp(hat_name)``, ``HatRight(hat_name)``, ``HatRightUp(hat_name)``, ``HatDown(hat_name)``, ``HatRightDown(hat_name)``, ``HatLeft(hat_name)``, ``HatLeftUp(hat_name)``, ``HatLeftDown(hat_name)`` : return 1 or 0.
|
||||
|
||||
|
||||
The operators are: *-*, *+*, *\**, *%*, *&&*, *||*, *<*, *>*
|
||||
|
||||
Some examples:
|
||||
|
||||
- ``value="roll"``
|
||||
- ``value="(right-left)*127"``
|
||||
- ``value="IndexOfSetting('autopilot.kill_throttle')"``
|
||||
- ``value="Fit(-thrust,-127,127,0,127)"``
|
||||
- ``value="IndexOfBlock('land here')"``
|
||||
|
||||
|
||||
.. _Calibration:
|
||||
|
||||
Calibration
|
||||
===========
|
||||
|
||||
Your joystick may need calibration. Uncalibrated joystick may send non-zero values when the sticks are in neutral position.
|
||||
|
||||
Install the joystick and the jstest-gtk packages via:
|
||||
|
||||
``sudo apt-get install joystick jstest-gtk``
|
||||
|
||||
Use the graphical jstest-gtk tool (or the commandline jstest) to view/edit your joystick calibration and axis/button mappings. Start it via:
|
||||
|
||||
``jstest-gtk``
|
||||
|
||||
**Store the calibration**
|
||||
|
||||
Your calibration and mapping will be lost once you unplug the joystick, so store your configuration via:
|
||||
|
||||
``sudo jscal-store /dev/input/js0``
|
||||
|
||||
If you replug your joystick the next time, udev should take care of automatically loading the appropriate configuration.
|
||||
@@ -1,4 +1,4 @@
|
||||
.. tutorials main_tutorials intermediate index_intermediate
|
||||
.. tutorials intermediate
|
||||
|
||||
================================
|
||||
Create a new radio configuration
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
.. user_guide main_user software airframe airframe_conf imu_configuration
|
||||
|
||||
=================
|
||||
IMU Configuration
|
||||
=================
|
||||
|
||||
The IMU is used by the drone to get its attitude and its angular speed around its axis. It is composed of 3 accelerometers and 3 gyroscopes. Some chip also embbed 3 magnetometers. This device needs to be calibrated, and the drone needs to know how it is fixed to its frame.
|
||||
|
||||
See http://wiki.paparazziuav.org/wiki/ImuCalibration for more details.
|
||||
|
||||
The accelerometers and gyro calibration is relative to the physical device you have. The magneto calibration is relative to the physival device AND the environment, i.e. the drone itself (battery, GPS...).
|
||||
|
||||
Accelerometer configuration
|
||||
============================
|
||||
|
||||
**Add the IMU module**
|
||||
|
||||
In your airframe file in the `firmware` section, add the `imu` module corresponding to your hardware (Replace `apogee` in the example below.) :
|
||||
|
||||
.. code-block:: xml
|
||||
|
||||
<firmware name="fixedwing">
|
||||
...
|
||||
<module name="imu" type="apogee">
|
||||
...
|
||||
</firmware>
|
||||
|
||||
|
||||
**Get the axis right !**
|
||||
|
||||
The drone must know how your IMU is oriented.
|
||||
|
||||
.. figure:: pictures_imu/plane_axis.png
|
||||
:alt: Plane axis
|
||||
:align: center
|
||||
|
||||
Plane axis
|
||||
|
||||
|
||||
|
||||
|
||||
Accelerometer calibration
|
||||
==========================
|
||||
|
||||
Here is the procedure:
|
||||
|
||||
1. Flash the board with your normal AP firmware (if it is not already on it.)
|
||||
2. Switch to the "raw sensors" telemetry mode via GCS->Settings->Telemetry and launch "server" to record a log.
|
||||
|
||||
.. figure:: pictures_imu/raw_sensors.jpg
|
||||
:alt: How to set raw sensors telemetry
|
||||
:align: center
|
||||
|
||||
How to set raw sensors telemetry
|
||||
|
||||
3. Move your IMU/airframe into different positions to record relevant measurements for each axis.
|
||||
|
||||
+ It is important that you get the min/max sensor values on each axis: turn and hold the IMU on all six sides of the 'cube' for about 10 seconds per IMU axis.
|
||||
+ During theses 10 seconds, the IMU must be absolutely static. Don't hold it in your hands, you will introduce too much vibrations.
|
||||
+ Please note that we talk about the IMU axes here, and not the airframe axes.
|
||||
|
||||
.. figure:: pictures_imu/acc_calibration.jpg
|
||||
:alt: Orientations during accelerometer calibration
|
||||
:align: center
|
||||
|
||||
Orientations during accelerometer calibration
|
||||
|
||||
|
||||
4. Stop the server so it will write the log file (to var/logs).
|
||||
5. Run the Python script on it to get your calibration coefficients and add them to your airframe file.
|
||||
|
||||
+ run the script:
|
||||
|
||||
``sw/tools/calibration/calibrate.py -s ACCEL -p var/logs/YY_MM_DD__hh_mm_ss.data``
|
||||
|
||||
+ If the log file contains logs from more than one aircraft, you will need to use the ``-i <ac_id>`` option, e.g :
|
||||
|
||||
``sw/tools/calibration/calibrate.py -i 50 -s ACCEL -p var/logs/YY_MM_DD__hh_mm_ss.data``
|
||||
+ If you kept the ``-p`` option, the script will show the plots.
|
||||
+ Add (or replace) the output values from this script to the airframe file in the `IMU` section. For example:
|
||||
|
||||
.. code-block:: xml
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="-40"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="32"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-33"/>
|
||||
<define name="ACCEL_X_SENS" value="2.45746358482" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.46030721866" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.46583755829" integer="16"/>
|
||||
...
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
.. tutorials main_tutorials intermediate
|
||||
.. tutorials intermediate
|
||||
|
||||
======================
|
||||
Intermediate
|
||||
@@ -9,5 +9,5 @@ TBD
|
||||
.. toctree ::
|
||||
write_module
|
||||
create_radio
|
||||
imu_configuration
|
||||
create_joystick
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
.. tutorials main_tutorials intermediate write_module
|
||||
.. tutorials intermediate
|
||||
|
||||
======================
|
||||
Write a New Module
|
||||
|
||||
Reference in New Issue
Block a user