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From: | Jorn Anke |
Subject: | [Paparazzi-devel] Problem compiling for simulation - undefined reference to `ahrs_update_gps' |
Date: | Sat, 15 Sep 2012 15:50:58 +0200 |
Hi,
I am working on a configuration for a Skywalker with Yapa/chimu. I have managed to successfully compile and run the program an the Yapa, but I am having problem compiling for simulation. The error message I get is: undefined reference to `ahrs_update_gps' Any ideas what I am missing? Best regards, Jorn Run 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu clean_ac ' make: Entering directory `/home/jorn/paparazzi' YAPA_Chimu rm -fr /home/jorn/paparazzi/var/YAPA_Chimu make: Leaving directory `/home/jorn/paparazzi' DONE (exec make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu clean_ac 2>&1) Run 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu sim ' make: Entering directory `/home/jorn/paparazzi' YAPA_Chimu BUILD YAPA_Chimu, TARGET sim make[1]: Entering directory `/home/jorn/paparazzi' BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/airframe.h ################################################## AIRFRAME MODEL: YAPA_Chimu ################################################## BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/modules.h Module ins unloaded, target sim not supported BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/periodic_telemetry.h BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/settings.h BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/tuning.h make[1]: Leaving directory `/home/jorn/paparazzi' make[1]: Entering directory `/home/jorn/paparazzi' BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/radio.h ################################################## RADIO MODEL: FASST TX Module ################################################## make[1]: Leaving directory `/home/jorn/paparazzi' make[1]: Entering directory `/home/jorn/paparazzi' BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/flight_plan.h ################################################## FLIGHT PLAN: Basic ################################################## Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="57.0" X="28.8" ALT="0.0"/> BUILD /home/jorn/paparazzi/var/YAPA_Chimu/flight_plan.xml make[1]: Leaving directory `/home/jorn/paparazzi' cd sw/airborne; make PAPARAZZI_SRC=/home/jorn/paparazzi PAPARAZZI_HOME=/home/jorn/paparazzi TARGET=sim ARCHI=sim ARCH=sim all make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne' DEPEND /home/jorn/paparazzi/var/YAPA_Chimu/sim/.depend make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne' make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne' CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/led_hw.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/sys_time.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/sys_time_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./inter_mcu.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_int.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_float.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_double.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_trig_int.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/i2c.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/i2c_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_fbw.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/electrical.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./commands.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/fbw_downlink.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_ap.o firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION! radio control roll channel input has been changed to follow aerospace sign conventions. You will have to change your radio control xml file to get a positive value when banking right! firmwares/fixedwing/main_ap.c: In function ‘on_gps_solution’: firmwares/fixedwing/main_ap.c:657:3: warning: implicit declaration of function ‘ahrs_update_gps’ [-Wimplicit-function-declaration] CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./estimator.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/ap_downlink.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ap.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/datalink/downlink.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/datalink.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_gps.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/ivy_transport.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_adc_generic.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/settings.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/subsystems/settings_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ahrs.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ir.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/radio_control.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/radio_control/ppm.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/subsystems/radio_control/ppm_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/stabilization/stabilization_attitude.o firmwares/fixedwing/stabilization/stabilization_attitude.c:40:9: note: #pragma message: CAUTION! ALL control gains have to be positive now! CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/guidance/guidance_v.o firmwares/fixedwing/guidance/guidance_v.c:112:9: note: #pragma message: CAUTION! ALL control gains have to be positive now! CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/gps.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/gps/gps_sim.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/nav.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/common_flight_plan.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/traffic_info.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_survey_rectangle.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_line.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_cube.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/discsurvey.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/OSAMNav.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/snav.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/spiral.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/poly_survey_adv.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/gls.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/border_line.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/spi.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/spi_arch.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/modules/digital_cam/led_cam_ctrl.o CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/modules/digital_cam/dc.o LD /home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_ap.o: In function `on_gps_solution': /home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:657: undefined reference to `ahrs_update_gps' collect2: ld returned 1 exit status File "/home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl.ml", line 1, characters 0-1: Error: Error while building custom runtime system make[1]: *** [/home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl] Error 2 make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne' make: *** [sim] Error 2 make: Leaving directory `/home/jorn/paparazzi' DONE (exec make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu sim 2>&1) ------------------------------------------------------------------ Airframe file: <!DOCTYPE airframe SYSTEM "airframe.dtd"> <!-- YAPA Chimu Ublox Robbe PPM Xbee 900 --> <airframe name="Yapa v1"> <firmware name="fixedwing"> <target name="ap" board="twog_1.0"/> <target name="sim" board="pc"/> <target name="jsbsim" board="pc"/> <define name="AGR_CLIMB"/> <define name="LOITER_TRIM"/> <define name="STRONG_WIND"/> <define name="WIND_INFO_RET"/> <define name="WIND_INFO"/> <define name="ALT_KALMAN"/> <subsystem name="radio_control" type="ppm"/> <subsystem name="telemetry" type="transparent"/> <subsystem name="control"/> <subsystem name="gps" type="ublox"/> <subsystem name="navigation" type="extra"/> <subsystem name="spi_slave_hs"/> <subsystem name="spi"/> </firmware> <firmware name="setup"> <target name="tunnel" board="tiny_2.11" /> <target name="usb_tunnel_0" board="tiny_2.11" /> </firmware> <!-- commands section --> <servos> <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/> <servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/> <servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/> <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/> <servo name="RUDDER" no="3" min="980" neutral="1380" max="1780"/> </servos> <commands> <axis name="THROTTLE" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/> <axis name="YAW" failsafe_value="0"/> <axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? --> </commands> <rc_commands> <set command="THROTTLE" value="@THROTTLE"/> <set command="ROLL" value="@ROLL"/> <set command="YAW" value="@YAW"/> <set command="PITCH" value="@PITCH"/> <set command="BRAKE" value="@FLAPS"/> </rc_commands> <section name="SERVO_MIXER_GAINS"> <define name="AILERON_NEUTRAL" value="0.3f"/> <define name="AILERON_RATE_UP" value="1.0f"/> <define name="AILERON_RATE_DOWN" value="0.5f"/> <define name="AILERON_RATE_UP_BRAKE" value="1.0f"/> <define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/> <define name="PITCH_GAIN" value="0.9f"/> <define name="BRAKE_AILEVON" value="-0.7f"/> <define name="BRAKE_PITCH" value="0.1f"/> <define name="MAX_BRAKE_RATE" value="130"/> <define name="RUDDER_OF_AILERON" value="0.3"/> </section> <command_laws> <!-- Differential Aileron Depending on Brake Value --> <set servo="AILERON_LEFT" value="@ROLL"/> <set servo="AILERON_RIGHT" value="@ROLL"/> <!-- Differential Thurst --> <set servo="THROTTLE" value="@THROTTLE"/> <!-- Pitch with Brake-Trim Function --> <set servo="ELEVATOR" value="@PITCH"/> </command_laws> <section name="AUTO1" prefix="AUTO1_"> <define name="MAX_ROLL" value="RadOfDeg(75)"/> <define name="MAX_PITCH" value="RadOfDeg(45)"/> </section> <section name="BAT"> <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/> </section> <section name="INS" prefix="INS_"> <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/> <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/> </section> <section name="MISC"> <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/> <define name="CARROT" value="5." unit="s"/> <define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/> <define name="ALT_KALMAN_ENABLED" value="TRUE"/> <define name="DEFAULT_CIRCLE_RADIUS" value="60."/> <define name="GLIDE_AIRSPEED" value="10"/> <define name="GLIDE_VSPEED" value="3."/> <define name="GLIDE_PITCH" value="45" unit="deg"/> <define name="COMMAND_ROLL_TRIM" value="180"/> <define name="COMMAND_PITCH_TRIM" value="-194."/> </section> <section name="VERTICAL CONTROL" prefix="V_CTL_"> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> <!-- outer loop proportional gain --> <define name="ALTITUDE_PGAIN" value="0.108000002801"/> <!-- outer loop saturation --> <define name="ALTITUDE_MAX_CLIMB" value="2."/> <!-- auto throttle inner loop --> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.43599998951"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.549000024796"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.158000007272" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_PGAIN" value="0."/> <define name="AUTO_THROTTLE_IGAIN" value="0."/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.361000001431"/> <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> </section> <section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <define name="COURSE_PGAIN" value="0.972000002861"/> <define name="COURSE_DGAIN" value="0.280999988317"/> <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/> <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/> <define name="PITCH_PGAIN" value="16917.2929688"/> <define name="PITCH_DGAIN" value="7.73400020599"/> <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/> <define name="ROLL_SLEW" value="1."/> <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/> <define name="ROLL_RATE_GAIN" value="820.312011719"/> </section> <section name="AGGRESSIVE" prefix="AGR_"> <define name="BLEND_START" value="30"/> <define name="BLEND_END" value="15"/> <define name="CLIMB_THROTTLE" value="1."/> <define name="CLIMB_PITCH" value="0.40000000596"/> <define name="DESCENT_THROTTLE" value="0."/> <define name="DESCENT_PITCH" value="-0.10000000149"/> <define name="CLIMB_NAV_RATIO" value="0.800000011921"/> <define name="DESCENT_NAV_RATIO" value="0.834999978542"/> </section> <section name="FAILSAFE" prefix="FAILSAFE_"> <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/> <define name="DEFAULT_ROLL" value="0.17" unit="rad"/> <define name="DEFAULT_PITCH" value="0.08" unit="rad"/> <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/> <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/> <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/> </section> <section name="DIGITAL_CAMERA" prefix="DC_"> <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/> <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/> </section> <modules> <load name="ins_chimu_spi.xml" > <!-- <define name="CHIMU_BIG_ENDIAN" /> --> </load> <load name="digital_cam.xml"> <define name="DC_SHUTTER_LED" value="2"/> </load> </modules> <section name="SIMU"> <define name="JSBSIM_MODEL" value=""Malolo1""/> <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/> <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/> <define name="JSBSIM_LAUNCHSPEED" value="15.0"/> </section> </airframe> |
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