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Today's Topics: 1. rotorcraft
firmware compile
errors (Chris) 2. Re: rotorcraft
firmware compile
errors (Felix Ruess) 3. Re: Module
using external
package (Felix Ruess) 4. Re: how to
use 2 GPS
simultaneously? (Prof. Dr.-Ing.
Heinrich Warmers)
----------------------------------------------------------------------
Message:
1
Date: Thu, 15 Aug 2013 19:32:10 +0300
From: Chris <address@hidden>
To: address@hidden
Subject: [Paparazzi-devel]
rotorcraft firmware
compile errors
Message-ID:
<address@hidden>
Content-Type:
text/plain; charset=ISO-8859-1;
format=flowed
I am trying to compile a rotorcraft
firmware with
the latest master (just updated and
recompiled the
code) but i get the following errors
when i use
the below settings (telemetry file =
default_rotorcraft.xml) :
<subsystem name="stabilization"
type="float_quat"/>
<subsystem name="ahrs"
type="float_cmpl_rmat"/>
with the below settings it compiles
fine
<subsystem name="ahrs"
type="int_cmpl_quat"/> <subsystem
name="stabilization"
type="int_quat"/>
Btw after reading some benchmarks
about the
stm32f4 i think that using floats is
much faster
than
using integers, am i wrong?
Here is the output:
GCC version:
arm-none-eabi-gcc (GNU Tools for ARM
Embedded
Processors) 4.7.3 20130312 (release)
[ARM/embedded-4_7-branch revision
196615]
CC
/home/hendrix/paparazzi/var/f550/ap/mcu.o
CC
/home/hendrix/paparazzi/var/f550/ap/state.o
CC
/home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o
firmwares/rotorcraft/main.c: In
function
'telemetry_periodic':
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
firmwares/rotorcraft/main.c:212:1:
error: invalid
operands to binary >> (have 'float'
and
'int')
make[1]: ***
[/home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o]
Error 1
make[1]: Leaving directory
`/home/hendrix/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory
`/home/hendrix/paparazzi'
Here is the relevant airframe file
<firmware
name="rotorcraft"> <target name="ap"
board="krooz_sd"/> <target name="nps"
board="pc"> <subsystem name="fdm"
type="jsbsim"/> <subsystem
name="radio_control" type="ppm"/>
</target> <subsystem
name="radio_control"
type="ppm"/> <subsystem
name="telemetry"
type="transparent"/> <subsystem
name="motor_mixing"/> <subsystem
name="actuators" type="pwm">
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="imu"
type="krooz_sd">
<define name="IMU_KROOZ_SD"
value="1"/>
</subsystem> <subsystem
name="stabilization"
type="float_quat"/>
<subsystem name="ahrs"
type="float_cmpl_rmat"/>
<!-- <subsystem name="ahrs"
type="int_cmpl_quat"/> <subsystem
name="stabilization"
type="int_quat"/>
--> <subsystem name="ins"
type="hff"/>
<define name="NO_RC_THRUST_LIMIT"/>
<define
name="USE_RC_FP_BLOCK_SWITCHING"/>
<define name="USE_ATTITUDE_REF"
value="0"/>
<define name="FAILSAFE_GROUND_DETECT"
value="1"/> <define
name="USE_GPS_ACC4R"
value="1"/> </firmware>
<!-- Using Geo Mag module -->
<modules
main_freq="512"> <!--<load
name="gps_ubx_ucenter.xml"/> -->
</modules>
------------------------------
Message: 2
Date: Thu, 15 Aug 2013 18:55:46 +0200
From: Felix Ruess
<address@hidden>
To: Paparazzi devel list
<address@hidden>
Subject:
Re: [Paparazzi-devel] rotorcraft
firmware compile
errors
Message-ID:
<address@hidden>
Content-Type:
text/plain; charset="utf-8"
Hi Chris,
thx! Should be fixed in master now.
You might also want to test the
Kalman filter
ahrs: float_mlkf
It currently doesn't have as many
options, e.g.
you have to use the mag and
you can't configure the noise yet...
Also it uses the mag measurements to
update all
axes and not only yaw.
But if your mag is properly
calibrated you should
get better results than
with the complementary filter.
Cheers, Felix
On Thu, Aug 15, 2013 at 6:32 PM,
Chris <address@hidden>
wrote:
%7F I am trying to compile a rotorcraft
firmware with the latest master
(just updated
and recompiled the code) but i
get the following
errors when i use the below
settings (telemetry
file = default_rotorcraft.xml) :
<subsystem
name="stabilization"
type="float_quat"/>
<subsystem name="ahrs"
type="float_cmpl_rmat"/> with the
below
settings it compiles fine
<subsystem
name="ahrs" type="int_cmpl_quat"/>
<subsystem name="stabilization"
type="int_quat"/> Btw after
reading some
benchmarks about the stm32f4 i
think that using
floats is much faster than using
integers, am i
wrong? Here is the output: GCC
version:
arm-none-eabi-gcc (GNU Tools for
ARM Embedded
Processors) 4.7.3 20130312
(release)
[ARM/embedded-4_7-branch revision
196615] CC
/home/hendrix/paparazzi/var/**f550/ap/mcu.o CC
/home/hendrix/paparazzi/var/**f550/ap/state.o CC
/home/hendrix/paparazzi/var/**f550/ap/firmwares/rotorcraft/**main.o
firmwares/rotorcraft/main.c: In
function
'telemetry_periodic':
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int')
firmwares/rotorcraft/main.c:**212:1: error:
invalid operands to binary >>
(have
'float' and 'int') make[1]: ***
[/home/hendrix/paparazzi/var/**f550/ap/firmwares/rotorcraft/*
*main.o] Error 1 make[1]: Leaving
directory
`/home/hendrix/paparazzi/sw/**airborne' make:
*** [ap.compile] Error 2 make:
Leaving directory
`/home/hendrix/paparazzi' Here is
the relevant
airframe file <firmware
name="rotorcraft">
<target name="ap"
board="krooz_sd"/>
<target name="nps" board="pc">
<subsystem name="fdm"
type="jsbsim"/>
<subsystem name="radio_control"
type="ppm"/> </target> <subsystem
name="radio_control" type="ppm"/>
<subsystem name="telemetry"
type="transparent"/> <subsystem
name="motor_mixing"/> <subsystem
name="actuators" type="pwm">
</subsystem> <subsystem name="gps"
type="ublox"/> <subsystem
name="imu"
type="krooz_sd"> <define
name="IMU_KROOZ_SD" value="1"/>
</subsystem> <subsystem
name="stabilization"
type="float_quat"/>
<subsystem name="ahrs"
type="float_cmpl_rmat"/> <!--
<subsystem name="ahrs"
type="int_cmpl_quat"/> <subsystem
name="stabilization"
type="int_quat"/> -->
<subsystem name="ins" type="hff"/>
<define
name="NO_RC_THRUST_LIMIT"/>
<define
name="USE_RC_FP_BLOCK_**SWITCHING"/>
<define name="USE_ATTITUDE_REF"
value="0"/> <define
name="FAILSAFE_GROUND_DETECT"
value="1"/>
<define name="USE_GPS_ACC4R"
value="1"/>
</firmware> <!-- Using Geo Mag
module
--> <modules main_freq="512">
<!--<load
name="gps_ubx_ucenter.xml"/>
--> </modules>
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------------------------------
Message:
3
Date: Thu, 15 Aug 2013 19:04:34 +0200
From: Felix Ruess
<address@hidden>
To: Paparazzi devel list
<address@hidden>
Subject:
Re: [Paparazzi-devel] Module using
external
package
Message-ID:
<address@hidden>
Content-Type: text/plain;
charset="utf-8"
Hi,
although I never tried it, there
should not be any
limitation (in
principle) using external libraries
in modules.
You however need to add a raw
makefile section to
your module.xml and add
your library there.
Something like:
<module name="foo" dir="bar"> <doc>
<description>my awsome
module</description> </doc>
<makefile target="ap"> <file
name="my_source.c"/> <raw>ap.CFLAGS
+=
-lmylib</raw> </makefile>
</module>
Can you please post your module xml
file?
Cheers, Felix
On Thu, Aug 15, 2013 at 4:59 PM, m
<address@hidden>
wrote:
%7F Hello all, I wanted to create a
module in which I use external
package(IPOPT)
for some computation. Since I'm
quite new to
paparazzi I'm not sure how that
can be done... I
used simple example code from the
IPOPT package
and modified it into a module and
first I want
to compile it with paparazzi
however when I try
to do that with target 'ap'(with
simulation I
get similar results) it seems
like object file
created can not find libraries: .
.
/home/bheliom/develop/paparazzi/var/Bixler/ap/modules/hs_module/hs071_c.o:
In function `ipopt_init':
/home/bheliom/develop/paparazzi/sw/airborne/modules/hs_module/hs071_c.c:75:
undefined reference to
`CreateIpoptProblem'
/home/bheliom/develop/paparazzi/sw/airborne/modules/hs_module/hs071_c.c:89:
undefined reference to
`AddIpoptStrOption' . .
Undefined references are of
course IPOPT
functions. When I use makefile in
my module
folder just to check whether the
code is working
with IPOPT, it works so include
directories are
well defined. Can I even use
external package
like this ? Or I have to somehow
implement it
into paparazzi ? I tried changing
makefile
options in my module xml but
without any good
result.
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------------------------------
Message:
4
Date: Thu, 15 Aug 2013 19:02:35 +0200
From: "Prof. Dr.-Ing. Heinrich
Warmers" <address@hidden>
To: address@hidden
Subject: Re: [Paparazzi-devel] how
to use 2 GPS
simultaneously?
Message-ID:
<address@hidden>
Content-Type:
text/plain; charset="iso-8859-9";
Format="flowed"
Hi Refik,
you can use multi norm receivers for
GPS and
GOLNASS etc.
http://www.nvs-gnss.com/products/receivers/item/2-nv08c-csm.html
Three is a module for 45 Euro
available. You have
to add the antenna and to wrote a
new driver for
paparazzi.
My smart phone has also the same
chip set. Usually
i receive 17-19 satellites.
Heinrich
Refik Sever schrieb:
%7F Dear all, Yesterday, our GPS was
lost
for 2 seconds and our plane went
to failsafe. We
were lucky and it did not crash.
I want to add a
second GPS for reliability. Is
there anyone
implemented it already? Regards,
Refik
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