Re: [Paparazzi-devel] How to integrate a new IMU to

[Refik Sever]

Hi Eduardo,

I am trying to use your imu_prop1 subsystem. I am using stable branch (v4.2). I copied the files which you mentioned in your email to the corresponding folders in the stable branch.

I added this line to my airframe.xml file.

<subsystem name="imu"     type="prop1"/>

When building, the following error has occurred:

BUILD /home/refik/paparazzi/var/MYAC1/flight_plan.xml
make[1]: Leaving directory `/home/refik/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/refik/paparazzi PAPARAZZI_HOME=/home/refik/paparazzi TARGET=ap all
make[1]: Entering directory `/home/refik/paparazzi/sw/airborne'
DEPEND /home/refik/paparazzi/var/MYAC1/ap/.depend
arm-none-eabi-gcc: error: peripherals/adxl345_i2c.c: No such file or directory
make[1]: Leaving directory `/home/refik/paparazzi/sw/airborne'
make[1]: Entering directory `/home/refik/paparazzi/sw/airborne'
Using CC   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using LD   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using CP   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objcopy
Using DMP  = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objdump
Using NM   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-nm
Using SIZE = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-size
GCC version:
arm-none-eabi-gcc (Linaro GCC 4.6-2011.09-1) 4.6.2 20110908 (prerelease)
*** Using multilib ***
--------------------------------------
make[1]: *** No rule to make target `/home/refik/paparazzi/var/MYAC1/ap/ap.elf', needed by `elf'.  Stop.
make[1]: Leaving directory `/home/refik/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/refik/paparazzi'

DONE (exec make -C /home/refik/paparazzi -f Makefile.ac AIRCRAFT=MYAC1 ap.compile  2>&1)


Is this error occurred because of using stable branch? What do you suggest?

Cheers,
Refik

Re: [Paparazzi-devel] How to integrate a new IMU to

---

From:	Eduardo lavratti
Subject:	Re: [Paparazzi-devel] How to integrate a new IMU to
Date:	Fri, 29 Mar 2013 18:49:30 -0300

---

Felix,

the files for l3g4200 is in repo now. (https://github.com/agressiva branch master_eduardo)
I created the imu_prop1 taht use l3g4200 + adxl345 + hmc5883
/ sw / airborne / peripherals /l3g4200.h
/ sw / airborne / peripherals /l3g4200.c
/ sw / airborne / peripherals /l3g4200_regs.h

the imu is:
/ sw / airborne / subsystems / imu /imu_prop1.h
/ sw / airborne / subsystems / imu /imu_prop1.c
/ sw / airborne / subsystems / imu /imu_prop1_defaults.h

makefile
/ conf / firmwares / subsystems / shared /imu_prop1.makefile

the gyro is configured to 800hz Output rate (options are 800 / 400 / 200)
i use this imu with rotorcraft then i use high data rate.

I not tested after i converted the driver but it should work.

I will test today at night.