I use px4 AC3.5.4 with raspberry.
My target is autonomous positioning drone in his local frame without global (gps).
I arming drone in GUIDED_NOGPS mode and takeoff.
I make request for my position in local frame with next command: vehicle.location.local_frame, but it return 'north=none, west=none, down=none'
What did i do wrong?
You have said that you are working with GUIDED_NOGPS mode so the GPS is disable.
Are you using PX4Flow sensor for position hold?
You need a sensor to get the local position.
PX4Flow sensor is official supported from ardupilot.
Related
I am following this github example for understanding OFDM on gnuradio-companion, I am able to execute ofdm_tx individually (64 and 512 FFT point) without any issues, but when I connect these two in single graph, I am able to get spectrum from ofdm_tx (no output from ofdm_rx or getting straight line).
My question here, each time I close my output spectrum, my tool get hanged and in background (inside gnu-companion) I observe the following message tarin (attached, printscreen). Similar thing also observed when I run ofdm_rx individually.
Error message in Console :
packet_headerparser_b :info: Detected an invalid packet at item 1448.
header_payload_demux :info :parser returned #f
Please guide me in this regard,
by selecting "NO" for vector source "Repeat" variable , issue sorted out (no hang), but not able to see spectrum anymore.
In Azure Device Provisioning Service
when using a custom allocation policy,
with '--reprovision-policy reprovisionandmigratedata'
is it possible to migrate the device twin data when the changing hubs and change some of the values in the twin?
From experiments initialTwin is ignored when moving between hubs (as opposed to registered for the first time) which is not that unexpected.
Example
Let's say that device d1 is provisioned to hub1 and its desired is
"desired" : {
"a": 1
}
Some time later d1 reprovisions and the allocation function is executed and it will move the device to hub2. I need the new desired to be:
"desired" : {
"a": 2
}
I have confirmed that when "re-provision and migrate data" the initialTwin will be ignored and that is by design.
An alternative is to query the latest twin from the device as part of custom allocation, add the new property and send it to DPS while choosing "re-provision and reset to initial config".
How to perform manual (Touch) focus with flash using Android camera2 api?
My captureRequest settings are:
1. type - TEMPLATE_PREVIEW
2. CONTROL_AE_MODE - CONTROL_AE_MODE_OFF
3. FLASH_MODE - FLASH_MODE_SINGLE
4. CONTROL_AF_TRIGGER - CONTROL_AF_TRIGGER_START
usage:
CaptureSession.capture(captureRequest.build(), captureCallback, null);
Result:
Camera get focused if there is enough light. Otherwise flash blinks very fast and focus fails.
you can try to perform manual (Touch) focus with flash by this way：
mPreviewBuilder.set(CaptureRequest.CONTROL_AE_MODE, CameraMetadata.CONTROL_AE_MODE_ON_AUTO_FLASH);
when use TRIGGER,use both AE and AF:
mPreviewBuilder.set(CaptureRequest.CONTROL_AF_TRIGGER, CameraMetadata.CONTROL_AF_TRIGGER_CANCEL);
mPreviewBuilder.set(CaptureRequest.CONTROL_AF_TRIGGER, CameraMetadata.CONTROL_AF_TRIGGER_START);
mPreviewBuilder.set(CaptureRequest.CONTROL_AE_PRECAPTURE_TRIGGER, CameraMetadata.CONTROL_AE_PRECAPTURE_TRIGGER_START);
and then:
mCameraCaptureSession.setRepeatingRequest(mPreviewBuilder.build(), mPreviewSessionCallback, mHandler);
I have a VW Golf 4, which is quite old and talks KWP 2000 (ISO 9141) on its CAN bus. I use a dongle powered by ELM 327, connected to the OBD-2 port of the car.
I am trying to send messages individually to each ECU. I tried to change the header of the messages:
AT SH 48 XX F1 (I hoped XX would be the ECU ID; 48 is the flag for "use physical addressing"). Any command I issue (e.g. tried 3E for "tester present") returns NO DATA (I disabled automatic timeouts and set the timeout to maximum value).
Is there a way to send messages directly to the ECU? I am not interested in the set of data provided via OBD-2, neither do I want to re-flash the ECUs. At the moment I just try to find out which ECUs are available on the bus.
Thanks!
VW works on Transport Protocol TP 2.0, hence you need to initialize with 0x200 header.
https://jazdw.net/tp20
See above link for more info.
I have an atmel UC3-L0 and compass sensor. Now I install AtmelStudio and download some demo code into the board. But I have no idea where the function printf in demo code will appear the data. How should I do to get the data?
The printf function outputs to stdout.
Usually on a "naked" processor with no operating system you need to define how a character is sent or received from a physical interface (usually an USART, console port, USB port, 4-port LCD interface, etc.). So typically you may want to use the USART port of your processor board to connect to a PC running Hyperterm, PuTTY or similar using a serial cable.
In essence you will need to
create FILE streams using the fdev_setup_stream() macro and
provide pointers to functions get() and put() that tell the printf() function how exactly to read and write from/to that stream (e.g. read/write to a USART, an LCD display, etc.).
you may have libraries - depending on your hardware - that already contain such functions (plus the correct port initialisation functions), like e.g. uart.c/.h, lcd.c/.h, etc.
In the documentation of stdio.h (e.g. here) look for the following:
printf(), fdev_setup_stream()
If you have downloaded Atmel Studio you may look into the stdiodemo.c code for further insight.
In order to use printf in ATMEL studio you should check the following things:
Add and Apply the Standard serial I/O module from Project->ASF Wizard.
Also add the USART module from the ASF Wizard.
Include the following code snippet before the main function.
static struct usart_module usart_instance;
static void configure_console(void)
{
struct usart_config usart_conf;
usart_get_config_defaults(&usart_conf);
usart_conf.mux_setting = EDBG_CDC_SERCOM_MUX_SETTING;
usart_conf.pinmux_pad0 = EDBG_CDC_SERCOM_PINMUX_PAD0;
usart_conf.pinmux_pad1 = EDBG_CDC_SERCOM_PINMUX_PAD1;
usart_conf.pinmux_pad2 = EDBG_CDC_SERCOM_PINMUX_PAD2;
usart_conf.pinmux_pad3 = EDBG_CDC_SERCOM_PINMUX_PAD3;
usart_conf.baudrate = 115200;
stdio_serial_init(&usart_instance, EDBG_CDC_MODULE, &usart_conf);
usart_enable(&usart_instance);
}
Make Sure you call the configure_console after system_init() from the main function.
Now go to tools->extension manager. Add the terminal window extension.
Build and Run your program and open the terminal window from view-> terminal window. put the correct com port to which your device is running on and set the baud to 115200 and hit connect on the terminal window.
You should see the printf statements now. (Float doesn't get printed in Atmel studio)
I was recently puzzling over this myself. I has installed Atmel Studio 7.0 and was using the SAMD21 Dev Board via an example project in which a call to printf was made.
In the sample code I saw that there was a configuration section:
/*!
* \brief Initialize USART to communicate with on board EDBG - SERCOM
* with the following settings.
* - 8-bit asynchronous USART
* - No parity
* - One stop bit
* - 115200 baud
*/
static void configure_usart(void)
{
struct usart_config config_usart;
// Get the default USART configuration
usart_get_config_defaults(&config_usart);
// Configure the baudrate
config_usart.baudrate = 115200;
// Configure the pin multiplexing for USART
config_usart.mux_setting = EDBG_CDC_SERCOM_MUX_SETTING;
config_usart.pinmux_pad0 = EDBG_CDC_SERCOM_PINMUX_PAD0;
config_usart.pinmux_pad1 = EDBG_CDC_SERCOM_PINMUX_PAD1;
config_usart.pinmux_pad2 = EDBG_CDC_SERCOM_PINMUX_PAD2;
config_usart.pinmux_pad3 = EDBG_CDC_SERCOM_PINMUX_PAD3;
// route the printf output to the USART
stdio_serial_init(&usart_instance, EDBG_CDC_MODULE, &config_usart);
// enable USART
usart_enable(&usart_instance);
}
In windows device manager I saw that there was an "Atmel Corp. EDBG USB Port (COM3)" listed under "Ports". However, the one of the "Properties" of this port was listed as 9600 Bits per second. I changed this from 9600 to 115200 to be consistent with the config section above.
Finally, I ran PuTTY.exe and set the Connection-->Serial setting to COM3 and 115200 baud. Then I went to Session, then clicked the Serial Connection Type, then clicked the Open button. And, BAM, there's my printf output via PuTTY.