Veronte is compatible with standard Pulse PositonModulation (PPM) signals.
Futaba radios between 8 and 12 channels are recommended.
VERONTE GROUND CONFIGURATION
To connect the Joystick to the system, it’s necessary the connector as the one in the following figure which is provided with 3.5mm stereo plug connector. The Joystick connector has to be connected to the jack in the red circle.
The only action required to configure correctly the stick in the Ground, is to set any pin (Digital In) of the connector with the Stick (PPM) functionality. To do this, connect Ground Autopilot then go to Devices/Others/XPC CAP panel, set the Consumer with PPM functionality and in the Producer configuration select the pin where it is connected.
By default, when the connector provided by Embention is used, the port is GPIO 100. Otherwise, it is needed to configure the port GPIO as input int the Connections Panel.
Stick configuration in Ground
Once the connection has been selected, it is necessary to configure the stick in the Stick PPM panel according to the radio used. To do this, go to Devices/Stick/Stick PPM. More information available in section 184.108.40.206.
Finally, go to Devices/Stick/Stick in order to configure stick parameters for manual and assisted manual system control. More information available in section 220.127.116.11.
The Raw channels to servo transformation matrix has to be defined. It is the YR matrix and it links the Joystick to the servos. In the following image, Mentor aircraft is configured. As can be seen there are four channels and each one is linked to the servos they control.
In this example, the channels order is Pitching (0), Thrusting (1), Rolling (2) and Yawing (3).
By clicking on Offset after applying transformation to servos, the offset vector Y0 can be edited. The equation that transforms raw stick inputs (R) to Y is:
The offset is calculated by setting R and Y with a specific value. For example, considering the neutral position of the sticks (0.5, Rn), and the neutral position of servos ( it depends on the aircraft, Yn), if all the components of R and Y are set to these values, the solution for the offset vector will be:
The matrix YR and the offset vector can be worked out using the Wizard Stick, see section 18.104.22.168 .
The components of Y are transformed to “real” servo movement through the curve of each actuator (the one that appears in section 6.6.1). In Arcade mode, the US matrix will transform the servo movement (S) into control inputs for the system (U).
VERONTE AIR CONFIGURATION
SET ARCADE MODE
To configure the Arcade (Assisted) mode, it is sufficient to go in the Phases panel and to open the Arcade panel of the selected phase. In this panel, it is possible to define the Arcade Gains for each control loop. In this case, is not directly the autopilot which generates the PID inputs, but an optimal combination of its commands and the ones from the pilot.
Arcade Gains set
Considering that the pilot’s stick can reach values approximately between 0 and 1, the gain is applied to the stick position before entering into the controller so the complete range of the controlled variable is covered.
The DBand option (Dead Band) creates a zone where the movement of the stick is not sent to the system, that is used because of the noise present on the stick position. So if the pilot has the stick in the neutral position, the actual value would be 0.001 for example and not zero. If the dead band is set to +-0.01, that command will not be sent to the system avoiding then a possible malfunction.
Finally, when the integral option is marked the variable increases continuously on joystick hold, and when is unchecked the control variable is reset after joystick release.
SET STICK NEUTRAL POSITION (Arcade Trim)
The arcade trim is used to set as the zero the current stick position. In the process detaile to obtain U from the stick input R, the final value is not the one that enters in the navigation algorithm, but the difference between the input U and another vector Uo. This one is the arcade trim. So when the sticks are trimmed at a certain position, the movement from that point will be the value of R that after the transformation will generate the U.
The values of the trim vector Uo can be created automatically by an automation.
Click on “New Automation” in the Automation panel. Type of Events is Button and the Actions is Arcade Trim (Select item Update and Save). Then, the user has to Save to write this automation on Veronte.
Set stick neutral position – 01
2. Connect the stick to Veronte GND and drive all channel to the neutral position.
Set stick neutral position – 02
Click on the Button that you created, wait few seconds (5 sec. is sufficient) and return to the default position. The neutral position values of your channel stick are now stored in Trim Arcade panel.
Set stick neutral position – 03
When a new set is performed, the arcade neutral values don’t change because this operation is performed only by the onboard software. Veronte Pipe checks it only once when it is launched so, if user wants to know the new values, he must re-launch the program.
In order to check the correct stick connection is possible to show the stick input r# variables (where # is the channel number) in the workspace and move levers to check the input behaviors. The stick value must be in the [0,1] range with the center value around 0.5.
Example of stick input vector R test
The R vector is the input variable of the system. In order to check the correspondent request to the system, it is necessary to show the Desired Roll, Pitch, Yaw and GS Down (Multicopters) or IAS (Airplanes) variables. The Output behavior will depend on the aircraft (control surfaces number and type, multicopter, plane, helicopter, etc…) and on the configured control type.
Example of stick input Arcade variables test