highaltitude.log.20060819

[00:06] <rocketboy> hey this is impressive - using the peg3 data (adjusting for weight difference) - I calculated the peg1 landing spot within 5km
[00:06] <jcoxon> thats pretty good
[00:07] <rocketboy> did P1 tail the baloon (i.e. was it still attached like P3?)
[00:07] <jcoxon> nope
[00:08] <jcoxon> only the knot of the balloon
[00:08] <jcoxon> much cleaer burst
[00:08] <rocketboy> ah - there is the difference - it would have added a bit more drag on decent for p3
[00:09] <jcoxon> yeah, quite a bit more
[00:10] <jcoxon> right well that gps is totally dead
[00:10] <rocketboy> what caused it to go?
[00:11] <jcoxon> not sure
[00:11] <phatmonkey> bummer
[00:12] <jcoxon> perhaps to much voltage
[00:13] <jcoxon> wow, they are cheap on ebay
[00:13] <rocketboy> but you say it still has lock - how do you know is that a led?
[00:13] <jcoxon> yeah
[00:13] <jcoxon> a nice flashing red led
[00:14] <jcoxon> but nothing is coming down the Txd line
[00:14] <rocketboy> so parts of it are working
[00:14] <jcoxon> oh yes
[00:14] <jcoxon> thats whats annoying me!
[00:14] <jcoxon> i'd rather it just blew up
[00:14] <rocketboy> have you put it into some unusual mode?
[00:14] <jcoxon> perhaps
[00:15] <rocketboy> no way to re-set it?
[00:15] <jcoxon> last time it was working it was in sirf-II binary mode
[00:15] <jcoxon> well i can see the back up battery :-p
[00:16] <rocketboy> is it the sort where you download the program?
[00:16] <rocketboy> i.e its got some boot loader
[00:17] <jcoxon> hmmm i doubt it
[00:17] <jcoxon> it a pretty basic serial gps
[00:18] <Tiger^> jcoxon: did you try taking the battery out for the night?
[00:18] <jcoxon> well its only just broken
[00:18] <Tiger^> maybe it needs a hard reset.
[00:19] <jcoxon> at the mo i'm just seeing if i can get a lock again
[00:19] <jcoxon> and then i'll detach the backup battery before i go to bed
[00:19] <kc0wys> hey
[00:20] Last message repeated 1 time(s).
[00:20] <jcoxon> hey kc0wys
[00:20] <kc0wys> hi
[00:21] <Tiger^> hey
[00:21] <kc0wys> connection seems to be flaky over here...
[00:21] <kc0wys> but yea i think james asked me a question a while ago but i can't remember...
[00:21] <jcoxon> hmmm
[00:21] <jcoxon> don't remember a question
[00:21] <kc0wys> hmm ok
[00:21] <jcoxon> might just bite the bullet and get a new gps
[00:22] <kc0wys> yeah my garmin gps-25 just came
[00:23] <kc0wys> it's really small but it has a weird connector i'll have to figure out
[00:23] <phatmonkey> aw man, i've got one i don't need
[00:23] <phatmonkey> gps-25 hvs
[00:23] <kc0wys> ya i've got the same model
[00:23] <phatmonkey> damn
[00:23] <phatmonkey> i was going to sell it
[00:23] <phatmonkey> oh well
[00:23] <kc0wys> heh
[00:23] <kc0wys> the guy i bought mine from only got 25$ us
[00:23] <kc0wys> for it
[00:23] <phatmonkey> ask around before you buy ;)
[00:23] <kc0wys> so...
[00:23] <kc0wys> pph
[00:24] <phatmonkey> http://www.garmin.com/manuals/GPS25LPSeries_TechnicalSpecification.pdf
[00:24] <kc0wys> you're over in the uk!!!
[00:24] <phatmonkey> there's the specs for the connector
[00:24] <kc0wys> i wont pay for that kinda shipping
[00:24] <kc0wys> o ok thx
[00:24] <kc0wys> just because *i
[00:25] <kc0wys> er
[00:25] <kc0wys> you can still sell it, i don't have to be the buyer you know
[00:25] <phatmonkey> hehe, yeah
[00:28] <jcoxon> right well i'm off to bed
[00:28] <jcoxon> i'll take the backup battery out now
[00:28] <jcoxon> night all
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[00:29] <phatmonkey> i need sleep too
[00:29] Action: phatmonkey blinks irregularly
[00:29] <rocketboy> yeh me too - c u guys
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[12:37] <rocketboy> hey jcoxon - any idea how i apply to the CAA for a flight?
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[13:09] <jcoxon> hey rocketboy
[13:09] <jcoxon> yeah
[13:09] <jcoxon> either you can do it in cambridge say with nova or with me and we just call up air traffic control 24hrs in advance
[13:10] <jcoxon> or you can email my contact in the CAA
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[13:57] <rocketboy> ta - can you email your contact CAA contact details - I'm thinking of a balloon launch at my rocketry club event in cambridge
[14:04] <rocketboy> on 3rd september - near papworth
[14:04] <rocketboy> weather permitting
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[16:09] <jcoxon> DATA!!!!!!
[16:10] Action: jcoxon does a little dance
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[16:32] <phatmonkey> yhay
[16:32] <phatmonkey> all working then?
[16:33] <jcoxon> well i'm now reassembling it
[16:34] <jcoxon> damn tough gps unit
[16:34] <phatmonkey> i'm just finishing off some other coding
[16:35] <phatmonkey> then i shall branch off the code to start something for a car
[16:35] <phatmonkey> i shall also ultra simplify
[16:35] <jcoxon> :-D
[16:35] <phatmonkey> stuffing it into a single process, so there's none of this terribly complicated IPC
[16:35] <jcoxon> cool, i might be able to understand it
[16:35] <phatmonkey> yeah, exactly
[16:36] <jcoxon> well once the gps is onboard she is ready for a bit of programming
[16:36] <phatmonkey> yeah
[16:36] <phatmonkey> bah, i'm bored of real work
[16:36] <phatmonkey> i'll do car coding
[16:40] <jcoxon> i've thought of a simple task to test it
[16:40] <jcoxon> define a base position and then move it and make it return to the spot
[16:41] <phatmonkey> what might be a good idea
[16:41] <phatmonkey> is to have some sort of flight plan
[16:41] <phatmonkey> well, drive plan
[16:41] <phatmonkey> goto coordinates x y
[16:41] <phatmonkey> wait x
[16:42] <phatmonkey> circle around x y radius z
[16:42] <jcoxon> so a library of set functions?
[16:42] <phatmonkey> nope
[16:42] <phatmonkey> just put that in a configuration file
[16:42] <phatmonkey> or have the ground station upload it live
[16:42] <phatmonkey> then it follows those instructions
[16:43] <phatmonkey> well, let's get something that goes round some set waypoints first... we can think about that later
[16:43] <jcoxon> yeah okay
[16:43] <phatmonkey> i'll try and make it reasonably universal
[16:43] <phatmonkey> i want to try it out on my car too :D
[16:43] <phatmonkey> do contribute... i guess it'll be reasonably simple
[16:44] <jcoxon> oh i will
[16:44] <jcoxon> i've just focusing on getting the vehicle working
[16:45] <phatmonkey> yep
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[16:51] <jcoxon> right time to turn this baby on
[16:55] <phatmonkey> wow
[16:55] <phatmonkey> it's so much easier not having to worry about bank angles!
[16:55] <phatmonkey> i'm just deleted masses of code
[16:55] <phatmonkey> deleting
[16:56] <rocketboy> less is more
[16:57] <phatmonkey> not really, it still can't fly ;)
[16:57] <phatmonkey> hmm
[16:57] <phatmonkey> i wonder if i can get anything done for tomorrow evening
[16:57] <phatmonkey> tesco car park will be empty on a sunday evening
[16:59] <phatmonkey> it's rather simplistic at the moment
[17:00] <phatmonkey> i will have to write some code that will figure out what speed it needs to go at to get round a bend
[17:00] <phatmonkey> hmm
[17:01] <phatmonkey> well
[17:01] <phatmonkey> your car might be able to go round corners at full speed jcoxon?
[17:01] <phatmonkey> mine certainly can't
[17:01] <phatmonkey> hehe
[17:03] <jcoxon> will the software make it speed along as fast as possible
[17:03] <jcoxon> or take its time
[17:04] <phatmonkey> it can be configured i suppose
[17:04] <phatmonkey> there's a max throttle
[17:05] <phatmonkey> i'd be interested to see if it could drive my car fast, but you might want it to be a tad more controlled :D
[17:05] <phatmonkey> then the software would have to figure out what speed it needs to go at to get round a corner
[17:05] <phatmonkey> how long it will take to slow down to that speed
[17:06] <phatmonkey> hence how far
[17:06] <phatmonkey> hence when it needs to start braking
[17:07] <phatmonkey> then it can increase speed again based on how far the heading is off the desired heading... so it can gradually power out of a corner
[17:07] <phatmonkey> wow, i should take my car to a local race and see if the computer can beat the humans...
[17:08] <phatmonkey> well, the gps would be useless for indoor racing i guess
[17:08] <jcoxon> it would struggle :-D
[17:09] <phatmonkey> actually, what we do need
[17:09] <phatmonkey> something i decided i would need for the glider
[17:09] <phatmonkey> is the ability to follow a path rather than just a set of coordinates
[17:09] <phatmonkey> so if it drifts off the path, it will go back to the path
[17:23] <jcoxon> gggrrrr
[17:23] <jcoxon> gps doesn't work now
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[17:29] Action: jcoxon is stupid
[17:29] <jcoxon> gps is working again
[17:29] <phatmonkey> haha
[17:29] <phatmonkey> what is it now?
[17:30] <jcoxon> the signal wasn't correctly grounded
[17:30] <phatmonkey> ah
[17:30] <phatmonkey> this gps draws such little current i can just power it straight through the robostix
[17:31] <phatmonkey> tis quite neat
[17:31] <jcoxon> i'm giving my gps its own power supply
[17:31] <jcoxon> tis easier that way
[17:31] <jcoxon> so there are quite a few batteries onboard
[17:32] <phatmonkey> ouch
[17:32] <phatmonkey> yes
[17:32] <jcoxon> need to get some rechargeables
[17:32] <jcoxon> weight isn't to much of an issue though
[17:34] <phatmonkey> the BEC powers the gumstix quite happily on mine... only battery pack for everything!
[17:34] <phatmonkey> only one battery pack rather
[17:35] <phatmonkey> ah, you won't have a brake with a mechanical speed controller either
[17:35] <phatmonkey> bummer
[17:35] <phatmonkey> i guess you're not going fast anyway
[17:35] <jcoxon> i have reverse
[17:35] <jcoxon> but yeah it won't be fast
[17:35] <jcoxon> on short grass
[17:35] <jcoxon> or tarmac
[17:35] <phatmonkey> yeah, but it's going to munch the drivetrain if you jam it in reverse!
[17:35] <jcoxon> lets keep it slow at first
[17:35] <phatmonkey> yep
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[17:39] <jcoxon> can't wait to get this working
[17:39] <jcoxon> then i can actually make improvements
[17:39] <jcoxon> tis very messy
[17:39] <phatmonkey> wow, the configuration is half the size
[17:51] <jcoxon> right
[17:51] <jcoxon> the hardware is now finished
[18:12] <phatmonkey> ok
[18:12] <phatmonkey> one thing you can do is writing some code for controlling the servos in C
[18:12] <phatmonkey> i guess everything you need is in that bluetooth code
[18:13] <jcoxon> well sort of
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[18:13] <jcoxon> I now understand what needs to be inputed into the device file to make it move
[18:13] <jcoxon> at the mo i'm just doing a full write up on hte website
[18:13] <phatmonkey> ok
[18:14] <phatmonkey> mine uses microseconds
[18:14] <phatmonkey> 1500 is centre, 1000 is one end, 2000 is the other
[18:14] <jcoxon> basically i need to write a convertor
[18:14] <phatmonkey> actually
[18:14] <phatmonkey> you don't need to, nah
[18:14] <phatmonkey> because you set the servo positions in the config anyway
[18:14] <jcoxon> so centre is "\200
[18:14] <phatmonkey> it can be any integer
[18:15] <jcoxon> sorry "\200"
[18:15] <phatmonkey> int servo_set_position(int servo_id, int position)
[18:15] <phatmonkey> so just use 200 i guess
[18:15] <jcoxon> one end is "\014"
[18:15] <phatmonkey> one sec, i'll commit all this and you can take a look
[18:15] <jcoxon> and the other "\300"
[18:15] <jcoxon> whats the svn branch?
[18:16] <phatmonkey> onboard/brances/car
[18:16] <jcoxon> so will the software be outputting numbers between 1000 and 2000?
[18:16] <phatmonkey> no
[18:16] <phatmonkey> that's all set in configuration
[18:16] <phatmonkey> take a look at src/config.h and src/libraries/servos.c
[18:16] <jcoxon> whats the svn command again? to checkout that is
[18:17] <phatmonkey> svn co http://www.firshman.co.uk/svn/slug
[18:17] <phatmonkey> then when you're done, svn commit
[18:17] <phatmonkey> http://svnbook.red-bean.com/ - that's fantastic
[18:18] <phatmonkey> argh, i hate it when people do that
[18:18] <phatmonkey> three rings and hung up... grr
[18:18] <jcoxon> right checking out
[18:18] <jcoxon> will bbl
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[21:17] <jcoxon> hey phatmonkey
[21:17] <phatmonkey> hey
[21:18] <jcoxon> just looking through the code
[21:19] <phatmonkey> for the car, i'll move the waypoint stuff from flight.c into main.c
[21:19] <phatmonkey> and then i'll write some simple throttle control
[21:19] <phatmonkey> then that's pretty much it
[21:20] <jcoxon> so
[21:20] <jcoxon> say that car wants to go forward
[21:20] <phatmonkey> freddie's still on and off, but when he's back, he can probably get a communication thingy done
[21:20] <jcoxon> what does it send to /dev/mpwm0
[21:21] <phatmonkey> something between THROTTLE_NEUTRAL and THROTTLE_HIGH
[21:21] <phatmonkey> see config.h
[21:21] <jcoxon> yeah i'm looking at it now
[21:21] <phatmonkey> once i figure out exactly how the throttle's going to work, i'll do the configuration for it
[21:21] <phatmonkey> not really sure how it's going to work yet
[21:21] <jcoxon> okay
[21:21] <jcoxon> so what do you need done?
[21:22] <phatmonkey> basically those throttle positions can be any integer you want
[21:22] <phatmonkey> servos.c
[21:22] <phatmonkey> fill in those bits
[21:22] <phatmonkey> after #elif SERVO_OUTPUT == SERVO_OUTPUT_GUMSTIX
[21:22] <phatmonkey> for the initialisation, just centre the servos i guess
[21:23] <phatmonkey> if you want to update your working copy, just use "svn update" in the root directory
[21:23] <phatmonkey> svn status will tell you what you have altered
[21:23] <phatmonkey> svn -u status will tell you what you and other people have edited
[21:24] <phatmonkey> well, best to read the book
[21:24] <phatmonkey> hehe
[21:25] <phatmonkey> you know about preprocessing directives don't you? #if, #ifdef and things
[21:25] <jcoxon> i'll work it out :-p
[21:25] <phatmonkey> hokay :D
[21:26] <jcoxon> but i realise that the code you need to write is only executed if gumstix is selected for the pwm
[21:26] <phatmonkey> robostix rather
[21:26] <jcoxon> sorry yeah
[21:26] <jcoxon> i meant i need to write
[21:26] <phatmonkey> oh, yeah
[21:27] <phatmonkey> use the existing device variable, that won't be touched if it's set to SERVO_OUTPUT_GUMSTIX
[21:27] <jcoxon> as i thought
[21:27] <jcoxon> i still have to finish writing up the website
[21:27] <jcoxon> so will look more into it later
[21:27] <phatmonkey> alrighty
[21:28] <phatmonkey> it's great you're documenting it well
[21:28] <jcoxon> i'm actually totally redoing hte construction page
[21:28] <jcoxon> instead of a diary style
[21:29] <jcoxon> i'm doing sections such as attaching the servos
[21:29] <jcoxon> and wiring up the gps
[21:33] <phatmonkey> great
[22:33] <jcoxon> right
[22:33] <jcoxon> done
[22:33] <jcoxon> http://www.pegasushabproject.org.uk/nomad/construction.html
[22:37] <phatmonkey> nice
[22:37] <phatmonkey> holy crap, that's a load of batteries
[22:37] <jcoxon> i warned you
[22:37] <jcoxon> the first step will be to get hte gumstix and radio modems off the same supply
[22:38] <phatmonkey> starting to look like a tank
[22:38] <jcoxon> i quite like the comparison between the top and bottom pics
[22:38] <jcoxon> before and after
[22:38] <jcoxon> it only has 15batteries excluding the big drive one
[22:38] <phatmonkey> yeah
[22:40] <jcoxon> think i need to clean it up a bit before submitting to hackaday :-p
[22:41] <jcoxon> and i need some more pvc tape :-p
[22:44] <jcoxon> right i'm going to go to bed, will look at some code tomorrow
[22:44] <jcoxon> night all
[22:45] <phatmonkey> hehe
[22:45] <phatmonkey> night
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