[Paparazzi-devel] Using u-blox with I2C

[David Conger]

Hello everyone,

I am testing MAX6 GPS module and wish to connect it via I2C to Umarim. (I2C0). 

I found CDW airframe ChimuTinyFw.xml with the following:

In Modules: 
<load name="gps_i2c.xml" />

In Subsystem:
    <subsystem name="gps" type="ublox" >
      <configure name="GPS_PORT" value="gps_i2c" />
    </subsystem>

Seems simple enough. I modified my working airframe file to include the above 
and get errors compiling:
CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/subsystems/gps/gps_ubx.o
subsystems/gps/gps_ubx.c: In function 'ubxsend_cfg_rst':
subsystems/gps/gps_ubx.c:277:3: warning: implicit declaration of function 
'gps_i2cTransmit' [-Wimplicit-function-declaration]
subsystems/gps/gps_ubx.c:277:3: warning: nested extern declaration of 
'gps_i2cTransmit' [-Wnested-externs]
subsystems/gps/gps_ubx.c:277:3: warning: implicit declaration of function 
'gps_i2cSendMessage' [-Wimplicit-function-declaration]
subsystems/gps/gps_ubx.c:277:3: warning: nested extern declaration of 
'gps_i2cSendMessage' [-Wnested-externs]
CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/subsystems/gps.o
CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/boards/umarim/baro_board.o
CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/peripherals/ads1114.o
CC 
/Users/bmw330i/paparazzi-software/var/UMARIML01/ap/modules/sensors/airspeed_ads1114.o
LD /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/ap.elf
/Users/bmw330i/paparazzi-software/var/UMARIML01/ap/firmwares/fixedwing/main_ap.o:
 In function `event_task_ap':
main_ap.c:(.text.event_task_ap+0x208): undefined reference to 
`gps_i2cChAvailable'
main_ap.c:(.text.event_task_ap+0x21c): undefined reference to `gps_i2cGetch'
main_ap.c:(.text.event_task_ap+0x228): undefined reference to 
`gps_i2cChAvailable'
collect2: ld returned 1 exit status
make[1]: *** [/Users/bmw330i/paparazzi-software/var/UMARIML01/ap/ap.elf] Error 1
make: *** [ap.compile] Error 2

I do not understand what the error is telling me. Can someone explain? Or tell 
me what I did wrong in the airframe? 

The rest of the files are:
Flight Plan: basic.xml
Settings: basic_ins.xml
Radio: cockpitSX.xml
Telemetry: default_fixedwing_imu_9k6.xml

Regards,
David Conger