Re: [Paparazzi-devel] imu and simulation

[Christophe De Wagter]

Hi Felix,

The workaround is to make a new airframe with infrared for the simulation part since the settings xmls are not compatible.

Christophe

On Jun 20, 2011 10:12 PM, "Felix Ruess" <address@hidden> wrote:
> Hi Tobi,
>
> there is no simulation of IMU for the normal fixedwing sim so far,
> this is why you get the error.
>
> As a workaround for now you can just include the imu and ahrs
> subsystems for ap only and use IR for the sim:
>
> <target name="sim" board="pc">
> <subsystem name="infrared"/>
> </target>
>
> <target name="ap" board="twog_1.0">
> <subsystem name="imu" type="aspirin_i2c"/> <!-- IMU -->
> <subsystem name="ahrs" type="ic">
> <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
> </subsystem>
> ....
> </target>
>
>
> Cheers, Felix
>
> On Fri, Jun 10, 2011 at 10:31 AM, <address@hidden> wrote:
>>
>> Hey another dump question, :-)
>>
>> i m trying to switch my fixedwing from ir to imu (aspirin)
>> the aspirin with twog is running just fine so far but....  when i try to compile for the simulator i always get this massage
>>
>> CC /home/tob/paparazzi/var/Tob_Aspirin/sim/firmwares/fixedwing/main_ap.o
>> firmwares/fixedwing/main_ap.c: In function ‘event_task_ap’:
>> firmwares/fixedwing/main_ap.c:617: warning: implicit declaration of function ‘ImuEvent’
>> i don t get it  could someone point me into the right direction - what am i missing?
>> for the ap compiling is no problem at all and the imu is running smooth and nicely
>> (airframe below)
>>
>> many thanks in advance --
>>
>> Tobi
>>
>>
>>
>>
>>
>>
>>
>> my airframe section is
>>
>> <airframe name="Tobias Aspirin">
>>
>>   <firmware name="fixedwing">
>>
>>     <target name="sim" board="pc"/>
>>     <target name="ap" board="twog_1.0">
>>
>>       <define name="STRONG_WIND"/>
>>       <define name="WIND_INFO"/>
>>       <define name="WIND_INFO_RET"/>
>>
>>       <configure name="PERIODIC_FREQUENCY" value="120"/>
>>       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
>>       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
>>       <define    name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
>>
>>       <configure name="AHRS_ALIGNER_LED" value="3"/>
>>       <configure name="CPU_LED" value="3"/>
>>     </target>
>>
>>     <subsystem name="i2c"/>
>>     <subsystem name="radio_control" type="ppm"/>  <!-- Radio -->
>>     <subsystem name="gps" type="ublox_lea4p"/>      <!-- GPS -->
>>     <subsystem name="telemetry"     type="transparent"/>  <!-- Communication -->
>>
>>     <subsystem name="navigation"  type="extra"/>
>>
>>
>>     <subsystem name="imu" type="aspirin_i2c"/>    <!-- IMU -->
>>
>>
>>     <subsystem name="ahrs" type="ic">
>>        <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
>>      </subsystem>
>>
>>     <subsystem name="control"/>
>> <!--    <subsystem name="control_adaptive"/> -->
>>     <define name="AGR_CLIMB"/>
>>     <define name="LOITER_TRIM"/>
>>     <define name="ALT_KALMAN"/>
>> </firmware>
>>
>>
>>
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