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

From: Jorn Anke
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10
Date: Tue, 5 Nov 2013 23:35:48 +0100
Sorry to bother with this again

I have downloaded, unpacked, and added the new toolchain to the path. When running the: arm-none-eabi-gcc --version command, e.g. from the paparazzi folder, It looks like this:

address@hidden:~/paparazzi$ arm-none-eabi-gcc --version
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.7.4 20130913 (release) [ARM/embedded-4_7-branch revision 202601]
Copyright (C) 2012 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Path looks like this:
address@hidden:~/paparazzi$ echo $PATH
/home/jorn/bin:/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/arm-toolchain-4_7/bin:/home/jorn/dev/android-sdk-linux/tools:/home/jorn/dev/android-sdk-linux/platform-tools:-toolchain/gcc-arm-none-eabi-4_7-2013q3/gcc-arm-none-eabi-*/bin:/opt/ARM/bin
address@hidden:~/paparazzi$

When compiling any airframe-file in paparazzi, it however appears that the old toolchain is still referenced, like pasted under. Do I need to change something in one of the config-files in paparazzi also, or something else?


Thanks again,

Jorn


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

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

RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=Microjet ap.compile '
make: Entering directory `/home/jorn/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.1_devel-595-ga035024
-----------------------------------------------------------------------
Microjet
BUILD Microjet, TARGET ap
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/Microjet/generated/airframe.h
##################################################
 AIRFRAME MODEL: Microjet
##################################################
GENERATE /home/jorn/paparazzi/var/Microjet/generated/modules.h
GENERATE /home/jorn/paparazzi/var/Microjet/generated/periodic_telemetry.h
GENERATE /home/jorn/paparazzi/var/Microjet/generated/settings.h
GENERATE /home/jorn/paparazzi/var/Microjet/generated/autopilot_core.h
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/Microjet/generated/radio.h
##################################################
 RADIO MODEL: cockpitMM
##################################################
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/Microjet/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Basic
##################################################

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

GENERATE /home/jorn/paparazzi/var/Microjet/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make TARGET=ap all
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:
/bin/sh: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: cannot execute binary file

CREATING object dir /home/jorn/paparazzi/var/Microjet/ap
AS /home/jorn/paparazzi/var/Microjet/ap/crt0.o
/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: cannot execute binary file
make[1]: *** [/home/jorn/paparazzi/var/Microjet/ap/crt0.o] Error 126
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=Microjet ap.compile' with code 2











Date: Tue, 29 Oct 2013 00:26:30 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10


¦ From which version did you upgrade?

I think it was a fresh installation, (-or maybe from master about 6 months back)

I mean your ubuntu installation, looks like you upgraded from a previous installation.

¦ Can you please post the output of
¦ dpkg --status paparazzi-arm-multilib

dpkg-query: package 'paparazzi-arm-multilib' is not installed and no information is available
Use dpkg --info (= dpkg-deb --info) to examine archive files,
and dpkg --contents (= dpkg-deb --contents) to list their contents.

How did you install the paparazzi-arm-multilib package? Seems like remnants from an old installation, or did you somehow copy this from another installation?
It's not properly installed via apt/dpkg, otherwise this would show you the status, version, description, etc...
 
¦ arm-none-eabi-gcc --version should report the version of the toolchain you unpacked from the tarball.

arm-none-eabi-gcc: command not found 

(same result when typing the command standing in the same dir as where arm-none-eabi-gcc was unpacked/is located).

Then it's not correctly added to your PATH.
E.g. if you unpacked it to ~/arm-toolchain-4_7, there should be bin directory in it.
You can directly execute it with ~/arm-toolchain-4_7/bin/arm-non-eabi-gcc --version

Make sure you added that bin directory to your PATH and exported it.
Also if you do the export in a shell, it's only added to the PATH in that shell, so test it from the same one after the export.
Then if that works you can add the export line to your ~/.bashrc so it will be loaded for each new shell that you open.


 


Date: Mon, 28 Oct 2013 22:37:49 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10

Hi,

Output from the command: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc --version:
bash: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: cannot execute binary file

Ok. So the paparazzi-arm-multilib toolchain you (still) have installed is not compatible...
And since there is no paparazzi-arm-multilib package for saucy yet this is a leftover from your previous ubuntu version.
Was simply doubting my memory before and thought I already built one for saucy since you were using it... (didn't check...)

From which version did you upgrade?
Can you please post the output of
dpkg --status paparazzi-arm-multilib
 
(This was from after I had downloaded, unpacked, added the toolchain to path).

Of course: you executed the same old binary from paparazzi-arm-multilib (as I asked you to) and not the binary from the gcc-arm-embedded toolchain.
If you have added the upacked gcc-arm-embedded to your PATH, simply running
arm-none-eabi-gcc --version
should report the version of the toolchain you unpacked from the tarball.

With that you should be able to compile your airframe just fine. (The output should also tell you that you are using the other toolchain now).
Make sure that this PATH is set correctly and re-open paparazzi center if you exported the new PATH after launching it...


Maybe the problem is related to Ubuntu 13.10 is still not supported? From the release notes:
Supported hosts:
* Windows XP/7 32/64 bits (with installer and alternative zip package)
* Linux 32/64 bits
  - Ubuntu 8.x or later (tarball)
  - Ubuntu 10.04/12.04/13.04 (tarball and PPA)
  - RHEL 4/5 (tarball)

I obviously haven't tested it, but the tarball should work fine on 13.10 (saucy).
 

Date: Mon, 28 Oct 2013 20:30:09 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10

Hm... can you please run /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc --version ?

I don't have a 13.10 machine to test, but maybe the paparazzi arm-multilib toolchain needs to updated/rebuilt for it.

In any case, (since you are using paparazzi_version >= 5.0) the recommended toolchain is the gcc-arm-embedded one from launchpad.
Can you please download and unpack the tarball and add the ~/home/<unpack_dir>/bin to your PATH variable and test again?
export PATH=~/home/<unpack_dir>/bin:$PATH


On Mon, Oct 28, 2013 at 8:06 PM, Jorn Anke <address@hidden> wrote:
Also the other example files I have tested ends with error messages like:


/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: 2: /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc: Syntax error: "(" unexpected

Output from command: address@hidden:~/paparazzi$ make AIRCRAFT=My_Lisa_Skywalker ap.compile Q=""


-----------------------------------------------------------------------
Paparazzi version v5.1_devel-569-g3fe72e2
-----------------------------------------------------------------------
if (expr "My_Lisa_Skywalker"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi

My_Lisa_Skywalker
BUILD My_Lisa_Skywalker, TARGET ap
PAPARAZZI_SRC=/home/jorn/paparazzi PAPARAZZI_HOME=/home/jorn/paparazzi TARGET=ap Q= /home/jorn/paparazzi/sw/tools/gen_aircraft.out My_Lisa_Skywalker
make -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker AC_ID=1 AIRFRAME_XML=airframes/TUDelft/my_lisa_m2_test6.xml TELEMETRY=telemetry/default_fixedwing.xml SETTINGS=" settings/fixedwing_basic.xml settings/modules/dc.xml" MD5SUM="4ac57c8e175ecea8030fb3d20e0efc6a" TARGET=ap all_ac_h

make[1]: Entering directory `/home/jorn/paparazzi'
make[1]: Leaving directory `/home/jorn/paparazzi'
make -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker AC_ID=1 AIRFRAME_XML=airframes/TUDelft/my_lisa_m2_test6.xml TELEMETRY=telemetry/default_fixedwing.xml SETTINGS=" settings/fixedwing_basic.xml settings/modules/dc.xml" MD5SUM="4ac57c8e175ecea8030fb3d20e0efc6a" RADIO=radios/R6107SP_7ch.xml radio_ac_h

make[1]: Entering directory `/home/jorn/paparazzi'
make[1]: Nothing to be done for `radio_ac_h'.

make[1]: Leaving directory `/home/jorn/paparazzi'
make -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker AC_ID=1 AIRFRAME_XML=airframes/TUDelft/my_lisa_m2_test6.xml TELEMETRY=telemetry/default_fixedwing.xml SETTINGS=" settings/fixedwing_basic.xml settings/modules/dc.xml" MD5SUM="4ac57c8e175ecea8030fb3d20e0efc6a" FLIGHT_PLAN=flight_plans/basic.xml flight_plan_ac_h

make[1]: Entering directory `/home/jorn/paparazzi'
make[1]: Nothing to be done for `flight_plan_ac_h'.

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'

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
test -d /home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/ || mkdir -p /home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/
/opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc -c -I. -I./stm32 -I../ext/libopencm3/include -I/home/jorn/paparazzi/sw/include -I/home/jorn/paparazzi/sw/airborne -I/home/jorn/paparazzi/conf/autopilot -I/home/jorn/paparazzi/sw/airborne/arch/stm32 -I/home/jorn/paparazzi/var/include -I/home/jorn/paparazzi/var/My_Lisa_Skywalker -D__thumb2__ -Wall -Os -msoft-float -Wl,--gc-sections -mfix-cortex-m3-ldrd -mcpu=cortex-m3 -mthumb -ansi -std=gnu99 -fno-common -g -ffunction-sections -fdata-sections -Wimplicit -Wcast-align -Wpointer-arith -Wswitch -Wredundant-decls -Wreturn-type -Wshadow -Wunused -Wa,-adhlns=/home/jorn/paparazzi/var/My_Lisa_Skywalker/ap/mcu.lst -Wnested-externs -Wmissing-prototypes -Wstrict-prototypes -Wmissing-declarations -Wswitch-default -DSTM32F1 -DACTUATORS -DAHRS_ALIGNER_LED=2 -DAHRS_CORRECT_FREQUENCY=100 -DAHRS_PROPAGATE_FREQUENCY=100 -DAHRS_TRIGGERED_ATTITUDE_LOOP -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\" -DAHRS_UPDATE_FW_ESTIMATOR -DALT_KALMAN -DAP -DASPIRIN_2_SPI_DEV=spi2 -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE2 -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3 -DBB_MS5611_SPI_DEV=spi2 -DBOARD_CONFIG=\"boards/lisa_m_2.0.h\" -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/guidance_v.h\" -DDATALINK=PPRZ -DDC_PUSH=LED_OFF -DDC_RELEASE=LED_ON -DDC_SHUTTER_DELAY=4 -DDC_SHUTTER_LED=7 -DDIGITAL_CAM -DDOWNLINK -DDOWNLINK_AP_DEVICE=UART2 -DDOWNLINK_FBW_DEVICE=UART2 -DDOWNLINK_TRANSPORT=PprzTransport -DFBW -DFIRMWARE=FIXEDWING -DGPS_LED=3 -DGPS_LINK=UART3 -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\" -DGPS_UBX_UCENTER=\"modules/gps/gps_ubx_ucenter.c\" -DGPS_USE_LATLONG -DIMU_TYPE_H=\"imu/imu_aspirin_2_spi.h\" -DINS_TYPE_H=\"subsystems/ins/ins_alt_float.h\" -DINTER_MCU -DLED_7_BANK=0 -DLED_7_PIN=22 -DLUFTBOOT -DNAV -DPERIODIC_FREQUENCY=120 -DPERIPHERALS_AUTO_INIT -DPPRZ_UART=UART2 -DRADIO_CONTROL -DRADIO_CONTROL_LED=4 -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\" -DRADIO_CONTROL_TYPE_PPM -DSENSOR_SYNC_SEND=1 -DSPI_MASTER -DSYS_TIME_LED=1 -DTRAFFIC_INFO -DUART2_BAUD=B57600 -DUART3_BAUD=B38400 -DUBX -DUSE_ADC -DUSE_AHRS -DUSE_AHRS_ALIGNER -DUSE_GPS -DUSE_IMU -DUSE_LED -DUSE_LED_7=1 -DUSE_MAGNETOMETER=FALSE -DUSE_SPI -DUSE_SPI2 -DUSE_SPI_SLAVE2 -DUSE_SPI_SLAVE3 -DUSE_SYS_TIME -DUSE_UART2 -DUSE_UART3 -DWIND_INFO -I. -Iarch/stm32/modules -Iboards/lisa_m -Ifirmwares/fixedwing -Imodules mcu.c -o /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




Date: Mon, 28 Oct 2013 19:53:42 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Compile error on Ubuntu 13.10

Or run make AIRCRAFT=My_Lisa_Skywalker ap.compile Q="" from the comandline and post the output...


On Mon, Oct 28, 2013 at 7:45 PM, Felix Ruess <address@hidden> wrote:
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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