I´ve verified my conecctions and all it´s ok, my problem it´s that I have any error message, the only problem it´s that the GCS doesn´t load anything. The only thing that I´ve changed respect the correct airframe file (without the airspeed) are the airspeed code. Thats it´s what I´m using that dont work...
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Mugin UAV,
XTend
LEA 5H GPS (set to POSLLH)
-->
<!--RESPI VERSION V3 modificada con los para metros del EasyStar_ets que tiene AirSpeed y Baro. Verson Nueva para V3. param cambia define-->
<airframe name="Mugin UAV">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C0"/><!--RESPI ADD-->
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <!--Esto se anade para deshabilitar el salir de HOME_MODE desde la GCS-->
<define name="USE_AIRSPEED"/><!--RESPI ADD AIRSPEED-->
<define name="SENSOR_SYNC_SEND"/><!--RESPI ADD AIRSPEED-->
<!--<define name="USE_BARO_ETS"/>RESPI ADD BARO-->
<define name="GPS_USE_LATLONG"/><!--RESPI ADD Para ver si se arregla lod el HOME MODE porculero-->
<define name="USE_USB_HIGH_PCLK" />
</target>
<target name="sim" board="pc">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent">
<define name="MODEM_BAUD" value="B57600"/><!--RESPI :PROBAMOS CON ESTO AHORA Y VA OK TAMBIEN-->
</subsystem>
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
<!--<subsystem name="navigation"/> RESPI Esto del TwinStar-->
<subsystem name="navigation" type="extra"/> <!--Esto es del EasyStar. Se usa para rutinas de navegacion avanzadas-->
<subsystem name="i2c"> <!--RESPI ADD-->
</subsystem>
<subsystem name="spi_slave_hs"><!--JESUS ADD-->
</subsystem>
</firmware>
<!--<firmware name="setup"> RESPI SUB
<target name="tunnel" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>-->
<!--CHIMU ADD-->
<modules>
<load name="ins_chimu_spi.xml" >
</load>
<!--AIRSPEED ADD-->
<load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SCALE" value="1.8"/>
<define name="AIRSPEED_ETS_OFFSET" value="4"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>
</load>
</modules><!-- END RESPI ADD-->
<!-- commands section -->
<servos>
<servo name="AIL_LEFT" no="0" min="1800" neutral="1500" max="1200"/>
<servo name="RUDDERVATOR_LEFT" no="1" min="1950" neutral="1500" max="1050"/>
<servo name="MOTOR" no="2" min="2100" neutral="1650" max="1200"/>
<servo name="RUDDERVATOR_RIGHT" no="3" min="1050" neutral="1500" max="1950"/>
<servo name="AIL_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
<servo name="RUEDA_MORRO" no="5" min="1200" neutral="1500" max="1800"/>
<servo name="FRENOS" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="PARACAIDAS" no="7" min="1000" neutral="1500" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FRENOS" failsafe_value="0"/>
<axis name="PARACAIDAS" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="PARACAIDAS" value="@PARACAIDAS"/>
<set command="FRENOS" value="@FRENOS"/>
</rc_commands>
<auto_rc_commands>
<set command="PARACAIDAS" value="@PARACAIDAS"/>
<set command="FRENOS" value="@FRENOS"/>
</auto_rc_commands>
<section name="MIXER">
<define name="RUDERVATOR_YAW_RATE" value="0.8"/><!--DEJADO COMO TENIA RAFA-->
<define name="RUDERVATOR_ELEVATOR_RATE" value="0.7"/><!--COMO LO TENÍA RAFA-->
<define name="RUEDA_MORRO_YAW_RATE" value="0.7"/><!--ESTO ESTA BIEN???-->
<define name="AILERON_DIFF" value="0.7"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL"/>
<let var="elevator" value="@PITCH * RUDERVATOR_ELEVATOR_RATE"/>
<let var="yaw" value="@YAW * RUDERVATOR_YAW_RATE * RUEDA_MORRO_YAW_RATE "/> <!--ESTO ESTA BIEN??? TBC-->
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="RUDDERVATOR_LEFT" value="$elevator - $yaw"/>
<set servo="RUDDERVATOR_RIGHT" value="$elevator + $yaw"/>
<set servo="AIL_RIGHT" value="($aileron > 0 ? AILERON_DIFF : 1) address@hidden"/>
<set servo="AIL_LEFT" value="($aileron > 0 ? 1 : AILERON_DIFF) address@hidden"/> <!--hay que añadir el resto de canales (frenos... etc)? TBC-->
<set servo="RUEDA_MORRO" value="@YAW"/>
<set servo="PARACAIDAS" value="@PARACAIDAS"/>
<set servo="FRENOS" value="@FRENOS"/>
</command_laws>
<section name="INS" prefix="INS_"><!--jesus ADD PARA LA IMU-->
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_"><!--RESPI Esta seccion del EasyStar-->
<define name="MAX_ROLL" value="RadOfDeg(40)"/><!--Angulo de la SUPERFICIE de Alerones NO ES ROLL-->
<define name="MAX_PITCH" value="RadOfDeg(40)"/><!--Angulo de la SUPERFICIE de Profundidad NO ES PITCH-->
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="1200" unit="mA"/><!--RESPI Cambiado en V4-->
<define name="ADC_CHANNEL_CURRENT" value="ADC_3" /><!--Anadido en V4-->
<define name="MilliAmpereOfAdc(adc)" value="(124*(adc-519))"/><!--Anadido en V4. Habra que escalarlo correctamente Con 112 estaba por debajo.-->
<define name="VoltageOfAdc(adc)" value ="(0.0268*adc)"/><!--Para su el valor de bateria indicado sea correcto. Definido en twog_1.0.h-->
<define name="CATASTROPHIC_BAT_LEVEL" value="5.8" unit="V"/><!--Valores adaptados a la diferencia de escalado. Poner sus valores cuando se ponga bien-->
<define name="CRITIC_BAT_LEVEL" value="2" unit="V"/>
<define name="LOW_BAT_LEVEL" value="5.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.3" unit="V"/>
<define name="ADC_CHANNEL_VOLTIOS_BATERIA_MOTOR" value="ADC_4" />
<define name="VoltageOfAdc_auxiliar(adc)" value ="(0.0268*adc)"/><!--Lo pongo para la bateria de motor. Definido en twog_1.0.h-->
</section>
<section name="MISC"><!--RESPI Esto del TwinStar-->
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/><!--RESPI MOD 60HZ Puede ser 20 Hz-->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/><!--RESPI FALSE-->
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"><!--RESPI Esta Seccion es completa del EasyStar-->
<define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/><!--Era 11.1 Se lo pongo a 8.4 para la micro-->
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.15" unit="(m/s)/m"/><!--RESPI CALERO UPDATE Estaba en -0.075 -->
<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/><!--Era 0.4.Cambiado 29-03-2011-->
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.9" unit="%"/><!--Era 0.8.Cambiado 29-03-2011-->
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.2" unit="rad/(m/s)"/><!--RESPI CALERO UPDATE Estaba en 0.05-->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/> <!--RESPI Era -0.125 Vuelo viernes -0.09-->
<define name="AUTO_PITCH_IGAIN" value="0.015"/> <!--RESPI Era -0.025 Vuelo Viernes 0.024-->
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
<define name="THROTTLE_SLEW" value="1.0"/>
<!-- auto airspeed and altitude inner loop --><!--RESPI ADD-->
<define name="AUTO_AIRSPEED_SETPOINT" value="8.0" unit="m/s"/> <!--Era 14.5-->
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="5.0" unit="m/s"/><!--Era 6-->
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
</section>
<!-- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="6000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="-1700."/>
<define name="ELEVATOR_OF_ROLL" value="1500"/>
</section> RESPI Esto es del Twin-->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"><!--RESPI Esta seccion entera del EasyStar-->
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(35)-->
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(25)-->
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/><!--Pongo los limites en radianes RadOfDeg(25)-->
<define name="ROLL_PGAIN" value="1560."/><!--RESPI Esto lo conservo del Twin--><!--Era 6000 Cambiado a 1560 Vuelo 17-03-->
<define name="PITCH_PGAIN" value="-8000."/><!--Era -12000 Cambiado a -8000 Vuelo 17-03-->
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-10000"/><!--Estaba en -14000 Vuelo 17-03-->
<define name="ROLL_RATE_GAIN" value="-200"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.6" unit="%"/><!-- Gaz for Aggressive Climb RESPI esto es del EasyStar 0.9-->
<define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb RESPI Esto es del EasyStar 0.35-->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent RESPI Esto del EasyStar 0.05-->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent RESPI Esto es del EasyStar -0.35-->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.1" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="80" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
</makefile>
</airframe>
--
Jesús Martín