Re: [Paparazzi-devel] MTI on Twog problem

[Andreas Gaeb]

Hi Franck,

Franck Marchand schrieb:
> Hello,
> 
> I am trying to plug a MTI IMU on a TWOG for a fixed wing aircraft. The MTI
> is plug on the Uart0 and I am trying to use the module "INS_XSENS" as
> explain on the wiki.
The module ins_xsens.xml seems to be incomplete, I use
ins_xsens_MTiG_Uart0.xml instead which works fine.

I hope you are using a level converter (MAX232 or the like), I fried my
Uarts by not using one.

> After the configuration of my airframe, I've got the
> following message when I built:
> 
> ...
> /home/franck/paparazzi3/sw/airborne/modules/ins/ins_xsens.c:140: warning:
> nested extern declaration of `INS_LINKTransmit'
> [...]
> ins_xsens.c:(.text+0x50): undefined reference to `INS_LINKTransmit'
> ins_xsens.c:(.text+0x5c): undefined reference to `INS_LINKTransmit'
This seems to be caused by INS_LINK not being defined. In the module xml
file should be a line like
<flag name="INS_LINK" value="Uart0" />
which is in ins_xsens_MTiG_Uart0.xml but not in ins_xsens.xml.


Btw, if you have an MTi-G and want to use its GPS, you'll have to add
something like
<file name="../../gps_xsens.c />
to the module xml and the following code to main_ap.c in the event task
below the corresponding GPS code:

#ifdef USE_GPS_XSENS
#ifndef HITL /* else comes through the datalink */
  if (InsBuffer()) {
    ReadInsBuffer();
  }
#endif
  if (ins_msg_received) {
    parse_ins_msg();
    ins_msg_received = FALSE;
#ifdef ALT_KALMAN
    EstimatorSetAlt(ins_z);
#endif
    if (gps_pos_available) {
      gps_verbose_downlink = !launch;
      UseGpsPosNoSend(estimator_update_state_gps);
      gps_downlink();
      gps_pos_available = FALSE;
    }
  }
#endif // USE_GPS_XSENS

HTH.

Regards,
        Andreas