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Re: [Paparazzi-devel] Lisa/M2, Aspirin2.2, problem compiling for simulat

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Lisa/M2, Aspirin2.2, problem compiling for simulation
Date: Thu, 28 Feb 2013 00:14:17 +0100
really rough and short answer, have to go...
This is on master, right? Please post which paparazzi_version you are using when reporting/asking stuff. It make life much easier... ;-)

for fixedwings use <subsystem name="ins" type="alt_float"/>
See, e.g. https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/MentorEnergy.xml

The aspirin imu already has proper defaults for the accel and gyro sens. Just don't define them and it will take the datasheet defaults.
See http://paparazzi.enac.fr/wiki/Subsystem/imu
ok.. aspirin2.2 is missing there, but uses the same defaults.
You only need to calibrate the mag.

Also I'm not sure if the float_dcm correctly handles the large BODY_TO_IMU psi angle.
See http://paparazzi.enac.fr/wiki/Subsystem/ahrs#DCM_.28floating_point.29 and https://github.com/paparazzi/paparazzi/issues/93

On Wed, Feb 27, 2013 at 11:50 PM, Jorn Anke <address@hidden> wrote:
@ Felix,

Thanks for the hints and help with my setup so far!

Now I have all the hardware up and running, and everything is looking good. Altitude hasn't moved for an hour of bench testing, so it seems like even the baro is working (-or has frozen the altitude in the gcs). ;-)

The only problem I am facing at the moment is I can't compile for any of the simulation targets without errors. Error message copy/pasted below.

So, I have a few questions again;

1. How can I remove the sim compilation errors?

2. I did use the default settings for the Aspirin 2.1 IMU - (for my Aspirin 2.2), found here; https://github.com/psinha/paparazzi/blob/toytronics/conf/airframes/esden/calib/asp21-default.xml

Should this be ok?

(I noticed you had changed some of the settings in the quad-copter airframe file you were referencing yesterday).

3. I have until now disabled the internal compass. Partly because I don't know how I can transfer the local declination/inclination into settings for the IMU, and partly because I do not think I need the compass for my fixed-wing Skywalker.

Any views on this?

4. Any reason for not taking the Lisa for a flight test in the near future?


Cheers

Jorn


_______________ Error message ______________________

RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker sim '
make: Entering directory `/home/jorn/paparazzi'
My_Lisa_Skywalker
BUILD My_Lisa_Skywalker, TARGET sim
make[1]: Entering directory `/home/jorn/paparazzi'
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/airframe.h
##################################################
 AIRFRAME MODEL: My_Lisa_Skywalker
##################################################
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/modules.h
Module gps_ubx unloaded, target sim not supported
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/periodic_telemetry.h
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/settings.h
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/autopilot_core.h
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/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/My_Lisa_Skywalker/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Basic
##################################################

Warning: low altitude (185<185+25) in <waypoint NAME="TD" Y="57.0" X="28.8" ALT="185.0"/>

BUILD /home/jorn/paparazzi/var/My_Lisa_Skywalker/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make TARGET=sim ARCHI=sim ARCH=sim all
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'
DEPEND /home/jorn/paparazzi/var/My_Lisa_Skywalker/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/My_Lisa_Skywalker/sim/mcu.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/mcu_arch.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/led_hw.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/mcu_periph/sys_time.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/mcu_periph/sys_time_arch.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/./inter_mcu.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/math/pprz_geodetic_int.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/math/pprz_geodetic_float.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/math/pprz_geodetic_double.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/math/pprz_trig_int.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/math/pprz_orientation_conversion.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/mcu_periph/i2c.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/mcu_periph/i2c_arch.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/main_fbw.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/electrical.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/commands.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/actuators.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/fbw_downlink.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/main_ap.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/autopilot.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/ap_downlink.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/state.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/settings.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/subsystems/settings_arch.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/sim_ap.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/datalink/downlink.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/datalink.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/sim_gps.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/ivy_transport.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/sim_adc_generic.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/sim_ahrs.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/sim_ir.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/radio_control.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/radio_control/ppm.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/arch/sim/subsystems/radio_control/ppm_arch.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/stabilization/stabilization_attitude.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/firmwares/fixedwing/guidance/guidance_v.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/ahrs.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/ahrs/ahrs_sim.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/gps.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/gps/gps_sim.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/nav.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/navigation/common_flight_plan.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/navigation/traffic_info.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/navigation/nav_survey_rectangle.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/navigation/nav_line.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/ins.o
CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/ins/ins_int.o
subsystems/ins/ins_int.c:46:21: fatal error: nps_fdm.h: No such file or directory
compilation terminated.
make[1]: *** [/home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/subsystems/ins/ins_int.o] Error 1
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: *** [sim] Error 2
make: Leaving directory `/home/jorn/paparazzi'

FAILED 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker sim' with code 2


_____________________ 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"/>
    </target>

    <target name="sim" board="pc"/>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>
 
    <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"/>
    <subsystem name="ins"/>
  </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_">
    <!-- My settings for orienting Lisa M2 in the flight direction -->
    <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"/>

    <!-- Default Aspirin V2.1 values based on the datasheet -->
    <!-- Copy/paste from: https://github.com/psinha/paparazzi/blob/toytronics/conf/airframes/esden/calib/asp21-default.xml -->
    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="-7"/>

    <!--SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
    <define name="GYRO_R_SENS" value="4.359" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>
    <define name="ACCEL_X_SENS" value="4.92297204167" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.88255070466" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.86606505696" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>
    <define name="MAG_X_SENS" value="1" integer="16"/>
    <define name="MAG_Y_SENS" value="1" integer="16"/>
    <define name="MAG_Z_SENS" value="1" integer="16"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="BARO_SENS" value="22.3" integer="16"/>
  </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=""ATPL2\rATRN5\rATTT80\r""/> -->
    <!-- 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>

  <section name="SIMULATOR" prefix="NPS_">
    <!--  <define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/> -->
    <define name="INITIAL_CONDITITONS" value=""reset00""/>
    <define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
  </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>


From: Felix Ruess
 Subject: Re: [Paparazzi-devel] Paparazzi-devel Digest, Vol 107, Issue 91
Date: Wed, 27 Feb 2013 01:42:15 +0100
Hi Jorn,

you are missing
<subsystem name="ins"/>
which is now mandatory in master.

You can also take a look at the example conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml

Cheers, Felix

P.S. You should also rename your airframe to something that makes sense....




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