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Re: [Paparazzi-devel] Problem compiling for simulation - undefined refer


From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Problem compiling for simulation - undefined reference to `ahrs_update_gps'
Date: Sat, 15 Sep 2012 23:45:07 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:15.0) Gecko/20120827 Thunderbird/15.0

Hi,

The ins module you are using doesn't really implement the sim part. You can try to replace:

<target name="sim"             board="pc"/>

by

<target name="sim"    board="pc">
  <subsystem name="ahrs" type="float_dcm"/>
</target>

maybe some defines will be missing.

Of course, supporting directly sim would be better. Patches are welcome.

Gautier

Le 15/09/2012 15:50, Jorn Anke a écrit :
Hi,

I am working on a configuration for a Skywalker with Yapa/chimu. I have managed to successfully compile and run the program an the Yapa, but I am having problem compiling for simulation. The error message I get is: undefined reference to `ahrs_update_gps'

Any ideas what I am missing?

Best regards,

Jorn


Run 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu clean_ac '
make: Entering directory `/home/jorn/paparazzi'
YAPA_Chimu
rm -fr /home/jorn/paparazzi/var/YAPA_Chimu
make: Leaving directory `/home/jorn/paparazzi'

DONE (exec make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu clean_ac  2>&1)

Run 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu sim '
make: Entering directory `/home/jorn/paparazzi'
YAPA_Chimu
BUILD YAPA_Chimu, TARGET sim
make[1]: Entering directory `/home/jorn/paparazzi'
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/airframe.h
##################################################
 AIRFRAME MODEL: YAPA_Chimu
##################################################
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/modules.h
Module ins unloaded, target sim not supported
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/periodic_telemetry.h
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/settings.h
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/tuning.h
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/radio.h
##################################################
 RADIO MODEL: FASST TX Module
##################################################
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Basic
##################################################

Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="57.0" X="28.8" ALT="0.0"/>

BUILD /home/jorn/paparazzi/var/YAPA_Chimu/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/jorn/paparazzi PAPARAZZI_HOME=/home/jorn/paparazzi TARGET=sim ARCHI=sim ARCH=sim all
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'
DEPEND /home/jorn/paparazzi/var/YAPA_Chimu/sim/.depend
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/led_hw.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/sys_time.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/sys_time_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./inter_mcu.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_int.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_float.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_geodetic_double.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/math/pprz_trig_int.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/i2c.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/i2c_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_fbw.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/electrical.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./commands.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/fbw_downlink.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_ap.o
firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION! radio control roll channel input has been changed to follow aerospace sign conventions.
 You will have to change your radio control xml file to get a positive value when banking right!
firmwares/fixedwing/main_ap.c: In function ‘on_gps_solution’:
firmwares/fixedwing/main_ap.c:657:3: warning: implicit declaration of function ‘ahrs_update_gps’ [-Wimplicit-function-declaration]
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/./estimator.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/ap_downlink.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ap.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/datalink/downlink.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/datalink.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_gps.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/ivy_transport.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_adc_generic.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/settings.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/subsystems/settings_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ahrs.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/sim_ir.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/radio_control.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/radio_control/ppm.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/subsystems/radio_control/ppm_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/stabilization/stabilization_attitude.o
firmwares/fixedwing/stabilization/stabilization_attitude.c:40:9: note: #pragma message: CAUTION! ALL control gains have to be positive now!
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/guidance/guidance_v.o
firmwares/fixedwing/guidance/guidance_v.c:112:9: note: #pragma message: CAUTION! ALL control gains have to be positive now!
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/gps.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/gps/gps_sim.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/nav.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/common_flight_plan.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/traffic_info.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_survey_rectangle.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_line.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/nav_cube.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/discsurvey.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/OSAMNav.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/snav.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/spiral.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/poly_survey_adv.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/gls.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/subsystems/navigation/border_line.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/mcu_periph/spi.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/arch/sim/mcu_periph/spi_arch.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/modules/digital_cam/led_cam_ctrl.o
CC /home/jorn/paparazzi/var/YAPA_Chimu/sim/modules/digital_cam/dc.o
LD /home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl
/home/jorn/paparazzi/var/YAPA_Chimu/sim/firmwares/fixedwing/main_ap.o: In function `on_gps_solution':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:657: undefined reference to `ahrs_update_gps'
collect2: ld returned 1 exit status
File "/home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl.ml", line 1, characters 0-1:
Error: Error while building custom runtime system
make[1]: *** [/home/jorn/paparazzi/var/YAPA_Chimu/sim/simsitl] Error 2
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: *** [sim] Error 2
make: Leaving directory `/home/jorn/paparazzi'

DONE (exec make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu sim  2>&1)


------------------------------------------------------------------
Airframe file:

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!--
    YAPA
    Chimu
    Ublox
    Robbe PPM
    Xbee 900
-->

<airframe name="Yapa v1">

  <firmware name="fixedwing">
    <target name="ap"             board="twog_1.0"/>
    <target name="sim"             board="pc"/>
    <target name="jsbsim"         board="pc"/>

    <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="STRONG_WIND"/>
    <define name="WIND_INFO_RET"/>
    <define name="WIND_INFO"/>
    <define name="ALT_KALMAN"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry" type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="navigation" type="extra"/>
    <subsystem name="spi_slave_hs"/>
    <subsystem name="spi"/>
  </firmware>

  <firmware name="setup">
    <target name="tunnel"          board="tiny_2.11" />
    <target name="usb_tunnel_0"    board="tiny_2.11" />
  </firmware>

  <!-- commands section -->
  <servos>
    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
    <servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
    <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
    <servo name="RUDDER" no="3" min="980" neutral="1380" max="1780"/>
  </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="BRAKE" failsafe_value="9600"/>    <!-- both elerons up as butterfly brake ? -->
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="YAW" value="@YAW"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="BRAKE" value="@FLAPS"/>
  </rc_commands>

  <section name="SERVO_MIXER_GAINS">
    <define name="AILERON_NEUTRAL" value="0.3f"/>
    <define name="AILERON_RATE_UP" value="1.0f"/>
    <define name="AILERON_RATE_DOWN" value="0.5f"/>
    <define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
    <define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
    <define name="PITCH_GAIN" value="0.9f"/>
    <define name="BRAKE_AILEVON" value="-0.7f"/>
    <define name="BRAKE_PITCH" value="0.1f"/>
    <define name="MAX_BRAKE_RATE" value="130"/>
    <define name="RUDDER_OF_AILERON" value="0.3"/>
  </section>

   <command_laws>
    <!-- Differential Aileron Depending on Brake Value -->
    <set servo="AILERON_LEFT" value="@ROLL"/>
    <set servo="AILERON_RIGHT" value="@ROLL"/>

    <!-- Differential Thurst -->
    <set servo="THROTTLE" value="@THROTTLE"/>

    <!-- Pitch with Brake-Trim Function -->
    <set servo="ELEVATOR" value="@PITCH"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="RadOfDeg(75)"/>
    <define name="MAX_PITCH" value="RadOfDeg(45)"/>
  </section>

  <section name="BAT">
    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
    <define name="GLIDE_AIRSPEED" value="10"/>
    <define name="GLIDE_VSPEED" value="3."/>
    <define name="GLIDE_PITCH" value="45" unit="deg"/>
    <define name="COMMAND_ROLL_TRIM" value="180"/>
    <define name="COMMAND_PITCH_TRIM" value="-194."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.108000002801"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.43599998951"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.549000024796"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.158000007272" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0."/>
    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.361000001431"/>
    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.972000002861"/>
    <define name="COURSE_DGAIN" value="0.280999988317"/>
    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
    <define name="PITCH_PGAIN" value="16917.2929688"/>
    <define name="PITCH_DGAIN" value="7.73400020599"/>
    <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
    <define name="ROLL_SLEW" value="1."/>
    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
    <define name="ROLL_RATE_GAIN" value="820.312011719"/>
  </section>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="30"/>
    <define name="BLEND_END" value="15"/>
    <define name="CLIMB_THROTTLE" value="1."/>
    <define name="CLIMB_PITCH" value="0.40000000596"/>
    <define name="DESCENT_THROTTLE" value="0."/>
    <define name="DESCENT_PITCH" value="-0.10000000149"/>
    <define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
    <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
  </section>

  <section name="DIGITAL_CAMERA" prefix="DC_">
    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
  </section>

  <modules>
    <load name="ins_chimu_spi.xml" >
    <!-- <define name="CHIMU_BIG_ENDIAN" /> -->
    </load>
    <load name="digital_cam.xml">
      <define name="DC_SHUTTER_LED" value="2"/>
    </load>
  </modules>

  <section name="SIMU">
    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
    <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
  </section>


</airframe>




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