Re: [Paparazzi-devel] rotorcraft firmware compile errors

[Felix Ruess]

Hi Chris,

thx! Should be fixed in master now.

You might also want to test the Kalman filter ahrs: float_mlkf
It currently doesn't have as many options, e.g. you have to use the mag and you can't configure the noise yet...

Also it uses the mag measurements to update all axes and not only yaw.

But if your mag is properly calibrated you should get better results than with the complementary filter.

Cheers, Felix

On Thu, Aug 15, 2013 at 6:32 PM, Chris <address@hidden> wrote:

I am trying to compile a rotorcraft firmware with the latest master (just updated and recompiled the code) but i get the following errors when i use  the below settings (telemetry file = default_rotorcraft.xml) :

<subsystem name="stabilization" type="float_quat"/>
<subsystem name="ahrs"        type="float_cmpl_rmat"/>

with the below settings it compiles fine

    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="stabilization" type="int_quat"/>

Btw after reading some benchmarks about the stm32f4 i think that using floats is much faster than
using integers, am i wrong?

Here is the output:

GCC version:
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.7.3 20130312 (release) [ARM/embedded-4_7-branch revision 196615]

CC /home/hendrix/paparazzi/var/f550/ap/mcu.o
CC /home/hendrix/paparazzi/var/f550/ap/state.o
CC /home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o
firmwares/rotorcraft/main.c: In function 'telemetry_periodic':
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> (have 'float' and 'int')
make[1]: *** [/home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o] Error 1
make[1]: Leaving directory `/home/hendrix/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/hendrix/paparazzi'


Here is the relevant airframe file

  <firmware name="rotorcraft">
    <target name="ap" board="krooz_sd"/>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="motor_mixing"/>
    <subsystem name="actuators"     type="pwm">
    </subsystem>

    <subsystem name="gps"           type="ublox"/>

    <subsystem name="imu"           type="krooz_sd">
      <define name="IMU_KROOZ_SD" value="1"/>
    </subsystem>

    <subsystem name="stabilization" type="float_quat"/>
    <subsystem name="ahrs"        type="float_cmpl_rmat"/>

<!--
    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="stabilization" type="int_quat"/>
-->
    <subsystem name="ins"           type="hff"/>

    <define name="NO_RC_THRUST_LIMIT"/>
    <define name="USE_RC_FP_BLOCK_SWITCHING"/>
    <define name="USE_ATTITUDE_REF" value="0"/>
    <define name="FAILSAFE_GROUND_DETECT" value="1"/>
    <define name="USE_GPS_ACC4R" value="1"/>
  </firmware>

<!--           Using Geo Mag module         -->
  <modules main_freq="512">
    <!--<load name="gps_ubx_ucenter.xml"/> -->
  </modules>



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