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Re: [Paparazzi-devel] Paparazzi-devel Digest, Vol 107, Issue 91

From: Jorn Anke
Subject: Re: [Paparazzi-devel] Paparazzi-devel Digest, Vol 107, Issue 91
Date: Wed, 27 Feb 2013 01:23:55 +0100
Felix, thanks! It worked, (that one I should have managed myself).

I did however receive another set of errors;

LD /home/jorn/paparazzi/var/YAPA_Chimu/ap/ap.elf
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `on_baro_abs_event':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:765: undefined reference to `ins_update_baro'
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `init_ap':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:176: undefined reference to `baro_init'
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:179: undefined reference to `ins_init'
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `reporting_task':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:410: undefined reference to `baro'
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `sensors_task':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:558: undefined reference to `baro_periodic'
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:561: undefined reference to `ins_periodic'
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `on_gps_solution':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:663: undefined reference to `ins_update_gps'
/home/jorn/paparazzi/var/YAPA_Chimu/ap/firmwares/fixedwing/main_ap.o: In function `event_task_ap':
/home/jorn/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:631: undefined reference to `baro_event'
collect2: ld returned 1 exit status
make[1]: *** [/home/jorn/paparazzi/var/YAPA_Chimu/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/jorn/paparazzi'

FAILED 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu ap.compile' with code 2


Any suggestions?

Cheers, Jorn

____________________________________________________________________________________
Airframe file:


<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- this is a Skywalker
  * Autopilot:   Lisa/M 2.0         http://paparazzi.enac.fr/wiki/Lisa/M_v20
  * IMU:         Aspirin 2.2        http://paparazzi.enac.fr/wiki/AspirinIMU
  * GPS:         Ublox              http://paparazzi.enac.fr/wiki/Subsystem/gps
  * RC:          any PPM system     http://paparazzi.enac.fr/wiki/Subsystem/radio_control#PPM
  * Modem        XBee in transparent mode at 57600 baud
-->

<airframe name="Skywalker LisaM 2.0">

  <firmware name="fixedwing">
    <target name="ap"             board="lisa_m_2.0">
      <!-- higher frequency for aspirin imu, ouputs data at 100Hz -->
      <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
      <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"/>
     
      <!-- Test 19.02.2013 -->
      <define name="USE_BAROMETER"/>
      <!-- <define name="USE_BARO_MS5611"/> -->
      <define name="INS_BARO_SENS" value="22.0"/>
     
     
     
    </target>


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

    <define name="ALT_KALMAN"/>
    <define name="USE_MAGNETOMETER" value="FALSE"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry" type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="imu" type="aspirin_v2.2"/>
    <subsystem name="ahrs" type="float_dcm"/>
    <subsystem name="gps" type="ublox"/>

   
    <subsystem name="navigation"/>
  </firmware>

  <!-- commands section -->
  <servos>
    <servo name="THROTTLE"      no="1" min="1000" neutral="1000" max="2000"/>
    <servo name="ELEVATOR"      no="2" min="1900" neutral="1500" max="1100"/>
    <servo name="RUDDER"        no="3" min="900" neutral="1350" max="1800"/>
    <servo name="AILERON_RIGHT" no="4" min="900" neutral="1500" max="2100"/>
    <servo name="AILERON_LEFT"  no="5" min="900" neutral="1500" max="2100"/>
  </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>

  <!-- New settings pr. 20. jan. 2013 -->
  <command_laws>
    <!-- Brake Rate Limiter -->
    <let var="brake_value_nofilt" value="Chop(address@hidden, 0, MAX_PPRZ)"/>
    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
    <!-- Differential Aileron Depending on Brake Value -->
    <let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
    <let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
    <let var="aileron_up" value="((address@hidden) * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
    <let var="aileron_down" value="((address@hidden) * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
    <let var="leftturn" value="(@ROLL >= 0? 0 : 1)"/>
    <let var="rightturn" value="(1 - $leftturn)"/>
    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
    <set servo="RUDDER" value="-(@YAW + @ROLL * RUDDER_OF_AILERON)"/>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <!-- Pitch with Brake-Trim Function -->
    <set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
  </command_laws>
 
  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="60.0"  unit="deg"/>
    <define name="MAX_PITCH" value="45.0" unit="deg"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0.0" unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="270.0" unit="deg"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
  </section>

  <section name="BAT">
    <!-- <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/> -->
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
    <!-- Ny parameter satt inn 17.09.2012 -->
    <define name="NAV_RADIUS" value="50" unit="m"/>
    <!-- XBEE kommentert ut 19.02.2013 (433MHz moduler)-->
    <!-- <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/> -->
    <!-- v<define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
    <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*1.3)"/>
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
  </section>

 
  <section name="DIGITAL_CAMERA" prefix="DC_">
    <!-- <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/> -->
    <!-- <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/> -->
  </section>

  <modules>

    <load name="gps_ubx_ucenter.xml"/>
   
   
   
   

<!--      <load name="ins_chimu_spi.xml" >
    <define name="CHIMU_BIG_ENDIAN" />
    </load> -->
   
   
    <!-- <load name="dc.xml"/> -->
    <load name="digital_cam.xml">
      <define name="DC_SHUTTER_LED" value="7"/>
      <define name="LED_7_BANK" value="0"/>
      <define name="LED_7_PIN" value="22"/>
      <define name="USE_LED_7" value="1"/>
<!--      
      <define name="PUSH" value="LED_ON" />
      <define name="RELEASE" value="LED_OFF" />
 -->

      <define name="DC_RELEASE" value="LED_ON" />  <!-- zero volt on startup -->
      <define name="DC_PUSH" value="LED_OFF" />  <!-- 3.3 volt to trigger -->
      <define name="DC_SHUTTER_DELAY" value="4" unit="quarter_second"/>
      <define name="SENSOR_SYNC_SEND" value="1" />
    </load>
  </modules>



</airframe>


_____________________________________________________________________________________



> Hi Jorn,
>
>
> two things:
> 1. please pull again first.
> Just commited some more fixes (configuring the uart with Uartx is not
> allowed anymore, only upper case version now)
> <configure name="MODEM_PORT" value="UART1"/>
> 2. You probably didn't run make after switching the branch.
> If you want to be on the really safe side: make clean && make
>
> Cheers, Felix
>
>
> On Tue, Feb 26, 2013 at 9:56 PM, Jorn Anke <address@hidden> wrote:
>
> > Hi,
> >
> > I have just changed from the stable- to the master branch.
> >
> > At first try to compile my previous (successfully compiled) configuration,
> > I got this error message, which I do not understand:
> >
> > *Run 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu
> > ap.compile '
> > make: Entering directory `/home/jorn/paparazzi'
> > -----------------------------------------------------------------------
> > Paparazzi version v4.9_devel-568-g2b2be3b-dirty
> > -----------------------------------------------------------------------
> > YAPA_Chimu
> > BUILD YAPA_Chimu, TARGET ap
> > 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
> > BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/periodic_telemetry.h
> > BUILD /home/jorn/paparazzi/var/YAPA_Chimu/generated/settings.h
> > make[1]: *** No rule to make target
> > `/home/jorn/paparazzi/sw/tools/gen_autopilot.out', needed by
> > `/home/jorn/paparazzi/var/YAPA_Chimu/generated/autopilot_core.h'. Stop.
> > make[1]: Leaving directory `/home/jorn/paparazzi'
> > make: *** [ap.ac_h] Error 2
> > make: Leaving directory `/home/jorn/paparazzi'
> >
> > DONE (exec make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=YAPA_Chimu
> > ap.compile 2>&1)*
> >
> >
> > Anyone who can explain what is going on?
> >
> >
> > PS: The refernece to the AIRFRAME MODEL: YAPA_Chimu must stem from an old
> > configuration. I do not understand why this reference is still appearing.
> > It did however not seem to make any trouble when I was compiling my
> > configuration with the stable branch.
> >
> > Cheers,
> >
> > Jorn

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