Comment by KnutL on May 7, 2011 at 3:07am

Could you say a few words, what you did on the ardupilot side to allow for 2-way communication ?

Comment by Niklas on May 7, 2011 at 6:13am

Hey guys.

 

The trick is to not mess up the data stream from the GPS module, since only one serial port is available. I created a command queue in the ground station, so it transmits one command after each GPS message. These are only received every second in my case. Then I modified the code for the binary GPS message parser, to be able to parse additional commands. I will make the source code available asap.

 

Regards

Niklas

Comment by KnutL on May 8, 2011 at 5:24am

Ok. agreed: Thats the way to go. Wait for the source code to check, if I can use it in my case.

Comment by KnutL on May 10, 2011 at 3:24am

Some quick comments:

Donwloaded your code. I imported the Javacode to eclipse first (on Vista), could compile it. Had some minor problems with gnu.io :)

I connected just an Arduino to get a hw connected to an usb port and changed only

one line of code

String portName =

It seems that it works so far, because the GS Window opens.

Next step will be to get the AP code running and connect the AP. The will be a task for tomorrow.

Thnx for sharing knut

"COM3";

Comment by Niklas on May 10, 2011 at 2:06pm

Actually I think you could just use the GPS and print functions, if you have a working setup yourself.

Comment by KnutL on May 10, 2011 at 11:28pm

It was easier for me to connect the AP.

I did that and downloaded your code and did some adaptions to my hardware.

The AP runs (hm, I can see, that the servos move if I use my RC). Connecting your GD I can see the servo values

and the CtrlMode, but NOT roll/pitch from the thermopiles.

I receive in eclipse the follorwing error message

%%524.0000000000;0;950;1082;950;1044;55.0000000000;10.0000000000;55.0000000000;10.0000000000;71.4000015258;9.5000000000;150.0000000000;133.0000000000;0**

java.lang.NumberFormatException

at java.lang.NumberFormatException.forInputString(Unknown Source)

at java.lang.Integer.parseInt(Unknown Source)

at java.lang.Integer.parseInt(Unknown Source)

at SerialReader.parseAdditinalInfo(

at SerialReader.processString(

 



Line 185 in serialReader is:

plane

.roll_p = Integer.parseInt(in[ROLL_P]);

: For input string: "55.0000000000"SerialReader.java:185)SerialReader.java:81)



 

 

Comment by Niklas on May 10, 2011 at 11:34pm

For some reason you received floats on your serial channel? Since a float can not be parsed by Integer.parseInt the code fails. I would look into the print functions in the ardupilot code.

The received values should look something like this: %%524;0;950;1082;950;1044;55;10;55;10;71**. You can confirm that your AP code i correct by checking the communication in the Ardupilot IDE.

Note that gains har displayed and input multiplied by 100.

Best regards

Niklas

Comment by KnutL on May 10, 2011 at 11:45pm

This is strange. I did not touch your code in that area (why should I). And yes, in the IDE Monitor I can

exactly see, what I can see in eclipse: It does not say %%bla bla;55; it says %%bla bla;55.0000000;

 

And in the code (I hope, this is the roght area)

void printAdditionalInfo()
{
       Serial.print("%%"); 
       Serial.print(battery_voltage,DEC);                      // 0
       Serial.print(";");
       Serial.print(servo_throttle,DEC);    // 1
       Serial.print(";");
 Serial.print(ch1_trim,DEC);   // 2
 Serial.print(";");
 Serial.print(ch2_trim,DEC);   // 3
        Serial.print(";");
 Serial.print(ch3_trim,DEC);   // 4
        Serial.print(";");
 Serial.print(ch3_fs,DEC);   // 5

        Serial.print(";");
        Serial.print(roll_p *100,DEC);   // 6
        Serial.print(";");
 Serial.print(roll_i *100,DEC);   // 7
        Serial.print(";");
 Serial.print(pitch_p *100,DEC);   // 8
        Serial.print(";");
 Serial.print(pitch_i *100,DEC);

I am going to delete the DECs.

Comment by KnutL on May 11, 2011 at 12:04am

Ok, I changed the code, put int() in each line. The errors messages in eclipse are all gone.

I can see data comin in, but still NO display in the GS window with regards of pitch/roll thermopiles.

Will do some debugging later the day.

Oops, did not check my GPS..there you did a lot of changes..

Comment by Niklas on May 11, 2011 at 12:08am

I am using an accelerometer instead of thermopiles, so my sensor file is altered as well. You should be able to use thermopiles, just keep track of the roll (sensor_roll?) and pitch (sensor_pitch?) variables.

 

The changes in the GPS code is only used the command parsing.

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