Re: [Paparazzi-devel] Barometre settings with Lisa/M

[Felix Ruess]

Hi guys,

Alonso,

I honestly can't say since I didn't directly compare/test it.

And of course it depends on how good your GPS is (also where you fly, e.g. SBAS available, good visibility and GDOP) and which barometer you use, where it's mounted (think pressure change inside fuselage), etc...

Jorge,

you actually don't need to add <configure name="USE_BARO_BOARD" value="TRUE"/> explicitly (although it doesn't hurt either). If the board you use has an onboard baro, it is already set to true by default.

Rather if your board has a baro and you want to disable it, use <configure name="USE_BARO_BOARD" value="FALSE"/>.

Looking at it again, it probably does not make sense to automatically set USE_BAROMETER to TRUE if you have an onboard baro. Since just because there is one on the board doesn't mean you actually want to use it for estimation. Also if you use a baro module you have to set USE_BAROMETER to true to use it for estimation, it could just as well be that you only want it to log data (as e.g. in the meteorological applications).

Regarding the INS alt_float and the simple alt_kalman it contains: By default ALT_KALMAN_ENABLED is FALSE, meaning that the filter is not used to filter GPS measurementents by default (if USE_BAROMETER it is enabled though).

I propose to get rid of this (IMHO mostly useless option): https://github.com/paparazzi/paparazzi/pull/594

Regarding the sim target: only the NPS sim currently supports simulation of a baro_board sensor, for the simple ocaml sim (fixedwing sim target) you need to <load name="baro_sim.xml"/> in your modules section.

Cheers, Felix

On Wed, Nov 20, 2013 at 10:32 AM, Jorn Anke <address@hidden> wrote:

Hi Felix, and thanks for helping again,

Yes, I am using version v5.1_devel-670-g74bb27a-dirty. Since I am on the master branch, I start every session by updating paparazzi. (Assuming you guys make corrections/improvements faster then adding new bugs ;-)
 
Maybe it would make more sense to enable this by "automatically" if USE_BARO_BOARD is true?

From a users point of view; yes. (I don't know if the baro board has other functions then just giving air pressure, so to me USE_BARO_BOARD looks equal to USE_BAROMETER).

It appears I got the barometer working. After about one hour of bench testing on my veranda, I noticed the altitude was drifting maybe +- 2m during the period, and drifting at a much slower rate then before - which is far better then the +- 10m observed during last test.

Only trouble now is I have an error when compiling for simulation, as quoted under.

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 sim.compile '
make: Entering directory `/home/jorn/paparazzi'
My_Lisa_Skywalker
BUILD My_Lisa_Skywalker, TARGET sim
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
Module gps_ubx unloaded, target sim not supported
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 (50<185+60) in <waypoint Y="160.0" X="-180.0" NAME="AF" ALT="50.0"/>


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'
-----------------------------------------------------------------------
Paparazzi version v5.1_devel-670-g74bb27a-dirty
-----------------------------------------------------------------------
cd sw/airborne; make TARGET=sim ARCHI=sim ARCH=sim all
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/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/subsystems/datalink/telemetry.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/subsystems/air_data.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_alt_float.o
subsystems/ins/ins_alt_float.c: In function 'alt_kalman':
subsystems/ins/ins_alt_float.c:200:8: error: 'BARO_SIM_DT' undeclared (first use in this function)
   DT = BARO_SIM_DT;
        ^
subsystems/ins/ins_alt_float.c:200:8: note: each undeclared identifier is reported only once for each function it appears in
make[1]: *** [/home/jorn/paparazzi/var/My_Lisa_Skywalker/sim/./subsystems/ins/ins_alt_float.o] Error 1
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: *** [sim.compile] Error 2
make: Leaving directory `/home/jorn/paparazzi'

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

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