SIM001

SIM001 › Beyond the cockpit › The flight computer

Sticks to channels

The flight computer reads the channels that the TX15 sends. It gives ArduPilot the same pulse widths that a receiver in the plane would give. A centred stick gives 1500 us. The ends of the stick give 1000 us and 2000 us.

A centred stick is 1500 us

If the TX15 roll stick is 0 %, the TX15 pitch stick is 0 % and the TX15 throttle stick is 0 %, wait 5 seconds. 1500: the autopilot reads this pulse width on the roll channel. 1500: the autopilot reads this pulse width on the pitch channel.

If the TX15 roll stick is 0 %, the TX15 pitch stick is 0 % and the TX15 throttle stick is 0 %, wait 5 seconds. 1500: the autopilot reads this pulse width on the roll channel. 1500: the autopilot reads this pulse width on the pitch channel.

See it in Fly and watch the screen, Sticks centred, Command through the line, Reading the flight display.

How this is tested verified
Given the TX15 roll stick is 0 %
  And the TX15 pitch stick is 0 %
  And the TX15 throttle stick is 0 %
When 5 seconds pass
Then the roll channel is 1500 us
  And the pitch channel is 1500 us
Follows
the section's setup
Tested by
Flying with a TX15 on the serial line › Fly and watch the screen passed, Flying with a TX15 on the serial line › Sticks centred passed, Commanding the plane from the ground station › Command through the line passed, Reading the flight display › Armed, banked and climbing passed

A stick at full travel is at the end of the range

If the TX15 roll stick is 100 % and the TX15 throttle stick is 100 %, wait 5 seconds. The roll channel is at least 1990 us. The throttle channel is at least 1990 us.

Except when the corrupted frames are 100 %: see A frame with a wrong checksum does nothing.

If the TX15 roll stick is 100 % and the TX15 throttle stick is 100 %, wait 5 seconds. The roll channel is at least 1990 us. The throttle channel is at least 1990 us.

See it in Full travel on the sticks.

How this is tested verified
Given the TX15 roll stick is 100 %
  And the TX15 throttle stick is 100 %
When 5 seconds pass
Then the roll channel is at least 1990 us
  And the throttle channel is at least 1990 us
Follows
the section's setup
Overridden by
A frame with a wrong checksum does nothing when the TX15 roll stick is 100 %, the TX15 throttle stick is 100 % and the corrupted frames are 100 %
Tested by
Flying with a TX15 on the serial line › Full travel on the sticks passed

A stick at half travel is half way

If the TX15 pitch stick is -50 %, wait 5 seconds. The pitch channel is at least 1245 us. The pitch channel is at most 1255 us.

If the TX15 pitch stick is -50 %, wait 5 seconds. The pitch channel is at least 1245 us. The pitch channel is at most 1255 us.

See it in Full travel on the sticks.

How this is tested verified
Given the TX15 pitch stick is -50 %
When 5 seconds pass
Then the pitch channel is at least 1245 us
  And the pitch channel is at most 1255 us
Follows
the section's setup
Tested by
Flying with a TX15 on the serial line › Full travel on the sticks passed

The arm switch goes to its channel

If the TX15 arm switch is on, wait 5 seconds. The arm channel is at least 1900 us.

If the TX15 arm switch is on, wait 5 seconds. The arm channel is at least 1900 us.

See it in Fly and watch the screen, Full travel on the sticks.

How this is tested verified
Given the TX15 arm switch is on
When 5 seconds pass
Then the arm channel is at least 1900 us
Follows
the section's setup
Tested by
Flying with a TX15 on the serial line › Fly and watch the screen passed, Flying with a TX15 on the serial line › Full travel on the sticks passed

A frame with a wrong checksum does nothing

A frame that the line has damaged must not move the plane.

If the corrupted frames are 100 % and the TX15 roll stick is 100 %, wait 5 seconds. 1500: the autopilot reads this pulse width on the roll channel.

An exception to A stick at full travel is at the end of the range.

If the corrupted frames are 100 % and the TX15 roll stick is 100 %, wait 5 seconds. 1500: the autopilot reads this pulse width on the roll channel.

See it in A damaged line.

How this is tested verified
Given the corrupted frames are 100 %
  And the TX15 roll stick is 100 %
When 5 seconds pass
Then the roll channel is 1500 us
Follows
the section's setup
Overrides
A stick at full travel is at the end of the range when the TX15 roll stick is 100 %, the TX15 throttle stick is 100 % and the corrupted frames are 100 %
Tested by
Flying with a TX15 on the serial line › A damaged line passed