Felix, thank you for your help. I have created my own IMU architecture files which now reside in the arch/sim folder, I have implemented my own imu_feed functions, and the imu_feed compilation errors are gone. My new problem is when I try to run the simulator:
Run '/home/aluminus/paparazzi/sw/simulator/launchsitl -a CAARV -boot -norc'
/home/aluminus/paparazzi/var/CAARV/sim/simsitl
/home/aluminus/paparazzi/var/CAARV/sim/simsitl: invalid option -- 'b'
Running from the terminal I get this:
address@hidden:~/paparazzi$ ./sw/simulator/launchsitl -a CAARV
/home/aluminus/paparazzi/var/CAARV/sim/simsitl
Broadcasting on network 127.255.255.255, port 2010
JSBSim Flight Dynamics Model v1.0 Oct 11 2010 15:24:33
[JSBSim-ML v2.0]
JSBSim startup beginning ...
Could not open file: (null)/conf/simulator/jsbsim/aircraft/CAARV.xml
JSBSim failed to open the configuration file: (null)/conf/simulator/jsbsim/aircraft/CAARV.xml
CAARV.xml exists and it has the flight model based on BOOZ2_A1, and when I try to run the simulator with BOOZ2_A1 (Poine's quadrotor) I get similar errors.
Why the confusion between JBSim and NPS?
Date: Sun, 23 Jan 2011 16:23:06 +0100
From: Felix Ruess <address@hidden>
Subject: Re: [Paparazzi-devel] NPS Simulator: IMU Simulation
To: address@hidden
Message-ID:
<address@hidden>
Content-Type: text/plain; charset="utf-8"
Hi Matthew,
so if you have e.g. the B2 IMU in your airframe file:
<subsystem name="imu" type="b2_v1.1"/>
This just adds the conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
to your generated var/<aircraft>/Makefile.ac. If you have a look at the imu
makefile you can see what files get added to the sim sources, among them:
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
The makefile variable SRC_ARCH is always set to the architecture you are
compiling for (sim for sim (board="pc") and lpc21 for the booz board).
Do you have your own IMU implementatin that you need to write imu_feed
functions for?
Most of the files used in the sim target on rotorcraft (NPS) are set in
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile wich normally gets
loaded with
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
in your airframe file.
Also currently the stabilization, etc. used for the NPS is mostly set there.
We should probably use the same ones set for ap (add the sources for the sim
target to the respective subsystem makefile and take that out of the
fdm_nps.makefile).
If you want to improve this, please don't hesitate to ask for more info.
And patches/pull requests are welcome!
Cheers, Felix
On Thu, Jan 20, 2011 at 9:32 PM, Matthew Plymale <address@hidden>wrote:
> I am using NPS as the simulator in Paparazzi for our quadrotor.
> nps_autopilot_booz expects some imu_feed functions to simulate the IMU.
> Where must these functions be defined? I looked at some examples and found
> that the B2 IMU has 3 different arch files: one for stm32, one for lpc2148
> and one for sim. In the sim file, I can see imu_feed_etc. but how does
> Paparazzi select which IMU architecture code to use in the simulator? Where
> would I write my own imu_feed functions so that they are used in simulation?
> --
> Matthew Plymale
> Concordia University
>
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