[Paparazzi-devel] Navigation Source Code Conflicts

[Matthew Plymale]

My team is using paparazzi to fly a quadrotor vehicle (Booz board) and we are having trouble with our flight plan. When we compile, there are many errors relating to redefinitions of navigation-related functions (such as WaypointX and so on). This results from having two or more copies of navigation code, in the firmwares/rotorcraft directory (navigation.h) as well as in the subsystems directory (nav.h) and subsystems/navigation directory (common_nav.h).

1) Why are there three apparantly conflicting copies of navigation codes around?

2) Which one should I be using?

3) How would I select which navigation code to use?

I browsed the wiki and found this beautiful nugget: "Beware, this code is kinda bad/ugly and should be replaced/improved!" http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration

Any help straightening this out is greatly appreciated

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Matthew Plymale

Concordia University Computer Engineering