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Re: [Paparazzi-devel] Compile error on Ubuntu 13.10

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10
Date: Mon, 28 Oct 2013 19:45:55 +0100
Hi Jorn,

Do other (example) aircrafts compile?

Did you clean the aircraft again afterwards? That would delete your aircraft folder in var.
Please run it again and attach the ap_srcs.list from /home/jorn/paparazzi/var/My_Lisa_Skywalker/

Cheers, Felix


On Mon, Oct 28, 2013 at 7:23 PM, Jorn Anke <address@hidden> wrote:
Thanks for the reply Felix :-)

The airframe file is pasted under. There were however no "ap" sub-folder (or .depend-file) in /home/jorn/paparazzi/var/My_Lisa_Skywalker/...


Cheers, Jørn

_________________________

<!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">

  <!-- commands section -->
  <servos>
    <servo name="THROTTLE"      no="1" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON_RIGHT" no="4" min="900" neutral="1500" max="2100"/>
    <servo name="AILERON_LEFT"  no="5" min="900" neutral="1500" max="2100"/>
    <servo name="ELEVATOR"      no="2" min="1900" neutral="1500" max="1100"/>
    <servo name="RUDDER"        no="3" min="900" neutral="1350" max="1800"/>
  </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="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="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="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="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="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
  -->

  <!--
  <makefile>
    # Virtual AC
    ap.srcs += sw/airborne/subsystems/navigation/zamboni_survey.c
   
  </makefile>
  -->
 
  <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>


  <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_v2.1"/>
    <subsystem name="ahrs" type="float_dcm"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="navigation"/>
    <!-- <subsystem name="ins"/> -->
    <subsystem name="ins" type="alt_float"/>
  </firmware>

</airframe>
____________________________________







Date: Mon, 28 Oct 2013 14:04:45 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10


Hi Jorge,

could you please post a link to your configuration/airframe file to reproduce this?
Most likely it is an error in your setup..
Maybe you can also post the /home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/.depend file (where it fails).

Cheers, Felix


On Sun, Oct 27, 2013 at 10:52 PM, Eduardo lavratti <address@hidden> wrote:
i am using ubuntu 13.10 without problems.
From: address@hidden
To: address@hidden
Date: Sun, 27 Oct 2013 22:46:25 +0100
Subject: [Paparazzi-devel] Compile error on Ubuntu 13.10


After upgrading to Ubuntu 13.10 and reinstalling paparazzi, I am having an error messages when compiling as copy&pasted under. Anyone who can see what is going wrong ?


Cheers,

Jorn


 

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

DONE 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker clean_ac'

RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker ap.compile '
make: Entering directory `/home/jorn/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.1_devel-569-g3fe72e2
-----------------------------------------------------------------------
My_Lisa_Skywalker
BUILD My_Lisa_Skywalker, TARGET ap
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/airframe.h
##################################################
 AIRFRAME MODEL: My_Lisa_Skywalker
##################################################
GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/modules.h
GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/periodic_telemetry.h
GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/settings.h
GENERATE /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'
GENERATE /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'
GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Test zamboni
##################################################

Warning: low altitude (240<185+60) in <waypoint Y="160" X="-180" NAME="AF" ALT="240"/>


Warning: low altitude (170<185+60) in <waypoint Y="10" X="-20" NAME="TD" ALT="170.0"/>

GENERATE /home/jorn/paparazzi/var/My_Lisa_Skywalker/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make TARGET=ap all
Using "arch/stm32/lisa-m.ld" as ldscript for target "ap".
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'
DEPEND /home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/.depend
/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: 2: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: Syntax error: "(" unexpected
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
Using "arch/stm32/lisa-m.ld" as ldscript for target "ap".
make[1]: Entering directory `/home/jorn/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:
/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: 2: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: Syntax error: "(" unexpected

CC /home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/mcu.o
/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: 2: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: Syntax error: "(" unexpected
make[1]: *** [/home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/mcu.o] Error 2
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=My_Lisa_Skywalker ap.compile' with code 2



Cheers,

Jorn

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