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More Sphinx doc (#2583)
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
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.. tutorials intermediate create_joystick
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====================================
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Create a new joystick configuration
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====================================
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New joystick configurations can be added in the ``paparazzi/conf/joystick`` directory.
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Profile a joystick
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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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[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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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]
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Axis 2 : parameters = [-32768,32768]
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Axis 3 : parameters = [-32768,32768]
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Input device name: "Amazing Joystick" on SDL device "0"
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buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
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buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
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buttons 0 0 0 0 0 | hat 0 | axes 0 0 0 0
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buttons 0 0 0 0 0 | hat 0 | axes 1 -40 0 0
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buttons 0 0 0 0 0 | hat 0 | axes -33 -83 0 0
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buttons 0 0 0 0 0 | hat 0 | axes -101 0 0 0
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.. note:: Your joystick may need to be calibrated. Go to the :ref:`Calibration` section below.
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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
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<joystick>
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<input>
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<axis index="0" name="roll" deadband="10" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="1" name="pitch"/>
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<axis index="2" name="yaw"/>
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<axis index="3" name="thrust"/>
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<button index="0" name="fire"/>
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<button index="1" name="top_center"/>
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<button index="2" name="top_left"/>
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<button index="3" name="top_right"/>
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<button index="4" name="far_left"/>
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</input>
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<variables>
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<var name="mode" default="0"/>
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<set var="mode" value="0" on_event="top_left"/>
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<set var="mode" value="1" on_event="top_center"/>
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<set var="mode" value="2" on_event="top_right"/>
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</variables>
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<messages period="0.01">
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<message class="datalink" name="RC_4CH" send_always="true">
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<field name="mode" value="mode"/>
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<field name="throttle" value="Fit(-thrust,-127,127,0,127)"/>
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<field name="roll" value="roll"/>
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<field name="yaw" value="yaw"/>
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<field name="pitch" value="pitch"/>
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</message>
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<!-- resurrect throttle on fire button -->
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<message class="ground" name="DL_SETTING" on_event="fire">
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<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
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<field name="value" value="0"/>
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</message>
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<!-- kill throttle on far_left button -->
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<message class="ground" name="DL_SETTING" on_event="far_left">
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<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
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<field name="value" value="1"/>
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</message>
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</messages>
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</joystick>
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Inputs
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------
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Edit the *input* section according to your info given by *test_stick*. There are 3 kind of inputs :
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- *axis*: "analog" stick that range from a min to a max value,
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- *hat*: tiny stick or arrows that can have 8 directions (up, down, left, right, up-left, ...),
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- *buttons*.
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*name* and *index* attributes are mandatory for all.
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Axis has 4 optionnal attributes:
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- *deadband*: input values within the deadband output 0. Range in [0, 127].
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- *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.
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- *limit*: limit the range of the output values, in percent. Range in [0, 1.0]. 1.0 has no effect.
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- *trim*: set offset in output values. Range in [-127, 127].
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These attributes are applied in that order : deadband, exponent, limit, trim.
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Variables
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---------
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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.
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Messages
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--------
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The *period* attribute on the *messages* section is the period in seconds at which inputs will be checked.
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In this section, you define which messages will be sent, the value of each field, and the conditions required to send the message.
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The *message* tag has two required attributes: the *name* and *class* of the message, and two optionnal attributes : *send_always* and *on_event*.
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*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.
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*on_event* defines the event/condition required to send the message. Complexes conditions are evaluated. Here are some examples:
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- ``on_event="button11 || button10"``
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- ``on_event="(button11 || button10) && pitch > 100"``
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In the message node, all fields must be specified except the *ac_id* field, that is filled by *input2ivy*.
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*value* is a "C like" expression made of axis and variables names, operators, and a set of utily functions.
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Thoses functions are:
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- ``Scale(toto, min, max)`` : scale toto from default min/max values [-128, 127] to [*min*, *max*]
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- ``Fit(x, min_in, max_in, min_out, max_out)`` : scale *x* from *min_in* *max_in* to *min_out*, *max_out*
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- ``Bound(x, min, max)`` : bound x between *min* and *max*
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- ``PprzMode(x)`` : scale input value to [0;1;2]. usefull for RC mode.
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- ``JoystickID()`` : return the joystick ID.
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- ``IndexOfEnum(NAME)`` : return the index of the enum member *NAME*
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- ``IndexOfSetting('setting_name')`` : return the index of the setting *setting_name*.
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- ``IndexOfBlock('block_name')`` : return the index of the block *block_name*.
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- ``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.
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The operators are: *-*, *+*, *\**, *%*, *&&*, *||*, *<*, *>*
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Some examples:
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- ``value="roll"``
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- ``value="(right-left)*127"``
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- ``value="IndexOfSetting('autopilot.kill_throttle')"``
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- ``value="Fit(-thrust,-127,127,0,127)"``
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- ``value="IndexOfBlock('land here')"``
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.. _Calibration:
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Calibration
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===========
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Your joystick may need calibration. Uncalibrated joystick may send non-zero values when the sticks are in neutral position.
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Install the joystick and the jstest-gtk packages via:
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``sudo apt-get install joystick jstest-gtk``
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Use the graphical jstest-gtk tool (or the commandline jstest) to view/edit your joystick calibration and axis/button mappings. Start it via:
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``jstest-gtk``
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**Store the calibration**
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Your calibration and mapping will be lost once you unplug the joystick, so store your configuration via:
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``sudo jscal-store /dev/input/js0``
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If you replug your joystick the next time, udev should take care of automatically loading the appropriate configuration.
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials intermediate index_intermediate
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.. tutorials intermediate
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================================
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Create a new radio configuration
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@@ -1,96 +0,0 @@
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.. user_guide main_user software airframe airframe_conf imu_configuration
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=================
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IMU Configuration
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=================
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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.
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See http://wiki.paparazziuav.org/wiki/ImuCalibration for more details.
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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...).
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Accelerometer configuration
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============================
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**Add the IMU module**
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In your airframe file in the `firmware` section, add the `imu` module corresponding to your hardware (Replace `apogee` in the example below.) :
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.. code-block:: xml
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<firmware name="fixedwing">
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...
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<module name="imu" type="apogee">
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...
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</firmware>
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**Get the axis right !**
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The drone must know how your IMU is oriented.
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.. figure:: pictures_imu/plane_axis.png
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:alt: Plane axis
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:align: center
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Plane axis
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Accelerometer calibration
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==========================
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Here is the procedure:
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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 via GCS->Settings->Telemetry and launch "server" to record a log.
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.. figure:: pictures_imu/raw_sensors.jpg
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:alt: How to set raw sensors telemetry
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:align: center
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How to set raw sensors telemetry
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3. Move your IMU/airframe into different positions to record relevant measurements for each 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, you will introduce too much vibrations.
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+ Please note that we talk about the IMU axes here, and not the airframe axes.
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.. figure:: pictures_imu/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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+ 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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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials intermediate
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.. tutorials intermediate
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======================
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Intermediate
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@@ -9,5 +9,5 @@ TBD
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.. toctree ::
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write_module
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create_radio
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imu_configuration
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create_joystick
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@@ -1,4 +1,4 @@
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.. tutorials main_tutorials intermediate write_module
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.. tutorials intermediate
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======================
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Write a New Module
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Reference in New Issue
Block a user