Re: [Paparazzi-devel] Tiny13 V1.1 Basic Airframe Compile

[antoine drouin]

change "SWITCH1" to "MODE" in your rc config file

On Mon, Dec 30, 2013 at 5:07 AM, chrismcdowell25 <address@hidden> wrote:

I have been working on this for a while and haven't been able to get it all
right.  I have a Tiny13 V1.1 board that I have been able to get usb_tunnel_1
working and see my gps on U-Center.  I was having issues with the gps
antenna before but did have code running and the servos responding but no
gps fix.  I now cannot get a basic airframe configuration to compile.  I am
shooting for Throttle, Elevator, Dual Ailerons and a Rudder.  I have a 7
Channel Futaba FP-R127DF.  I am using the FMA Direct Infared sensors and the
XBee Pro 2.4ghz radios.  I have been looking at other example files and the
wiki but can't seem to get anything to compile for my tiny.

This is the errors I am getting...

*Run 'make -C /home/chrismcdowell/paparazzi -f Makefile.ac AIRCRAFT=Tiny
clean_ac '
make: Entering directory `/home/chrismcdowell/paparazzi'
Tiny
rm -fr /home/chrismcdowell/paparazzi/var/Tiny
make: Leaving directory `/home/chrismcdowell/paparazzi'

DONE (exec make -C /home/chrismcdowell/paparazzi -f Makefile.ac
AIRCRAFT=Tiny clean_ac  2>&1)

Run 'make -C /home/chrismcdowell/paparazzi -f Makefile.ac AIRCRAFT=Tiny
ap.compile '
make: Entering directory `/home/chrismcdowell/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v4.2.2_stable-2-g5279142-dirty
-----------------------------------------------------------------------
Tiny
BUILD Tiny, TARGET ap
make[1]: Entering directory `/home/chrismcdowell/paparazzi'
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/airframe.h
##################################################
 AIRFRAME MODEL: Tiny
##################################################
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/modules.h
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/periodic_telemetry.h
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/settings.h
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/tuning.h
make[1]: Leaving directory `/home/chrismcdowell/paparazzi'
make[1]: Entering directory `/home/chrismcdowell/paparazzi'
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/radio.h
##################################################
 RADIO MODEL: Futaba
##################################################
make[1]: Leaving directory `/home/chrismcdowell/paparazzi'
make[1]: Entering directory `/home/chrismcdowell/paparazzi'
BUILD /home/chrismcdowell/paparazzi/var/Tiny/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Dummy
##################################################
BUILD /home/chrismcdowell/paparazzi/var/Tiny/flight_plan.xml
make[1]: Leaving directory `/home/chrismcdowell/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/chrismcdowell/paparazzi
PAPARAZZI_HOME=/home/chrismcdowell/paparazzi TARGET=ap all
make[1]: Entering directory `/home/chrismcdowell/paparazzi/sw/airborne'
DEPEND /home/chrismcdowell/paparazzi/var/Tiny/ap/.depend
make[1]: Leaving directory `/home/chrismcdowell/paparazzi/sw/airborne'
make[1]: Entering directory `/home/chrismcdowell/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 ***
--------------------------------------
AS /home/chrismcdowell/paparazzi/var/Tiny/ap/crt0.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/mcu.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/actuators.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/arch/lpc21/mcu_arch.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/mcu_periph/sys_time.o
CC
/home/chrismcdowell/paparazzi/var/Tiny/ap/arch/lpc21/mcu_periph/sys_time_arch.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/./inter_mcu.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/math/pprz_geodetic_int.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/math/pprz_geodetic_float.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/math/pprz_geodetic_double.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/math/pprz_trig_int.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/mcu_periph/i2c.o
CC
/home/chrismcdowell/paparazzi/var/Tiny/ap/arch/lpc21/mcu_periph/i2c_arch.o
CC /home/chrismcdowell/paparazzi/var/Tiny/ap/firmwares/fixedwing/main_fbw.o
firmwares/fixedwing/main_fbw.c: In function 'handle_rc_frame':
firmwares/fixedwing/main_fbw.c:112:14: error: 'RADIO_MODE' undeclared (first
use in this function)
firmwares/fixedwing/main_fbw.c:112:14: note: each undeclared identifier is
reported only once for each function it appears in
firmwares/fixedwing/main_fbw.c: In function 'event_task_fbw':
firmwares/fixedwing/main_fbw.c:192:5: warning: unused variable '_var_YAW'
[-Wunused-variable]
firmwares/fixedwing/main_fbw.c:192:5: warning: unused variable '_var_PITCH'
[-Wunused-variable]
firmwares/fixedwing/main_fbw.c:192:5: warning: unused variable '_var_ROLL'
[-Wunused-variable]
make[1]: ***
[/home/chrismcdowell/paparazzi/var/Tiny/ap/firmwares/fixedwing/main_fbw.o]
Error 1
make[1]: Leaving directory `/home/chrismcdowell/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/chrismcdowell/paparazzi'

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

The Airframe and Radio file that I am just trying to get to compile are
currently...

*<!DOCTYPE airframe SYSTEM &quot;airframe.dtd&quot;>



<airframe name="Chris Tiny">

<firmware name="fixedwing">
        <target name="sim" board="pc" />
        <target name="ap" board="tiny_1.1" />
        <target name="usb_tunnel_1" board="tiny_1.1"/>

        <subsystem name="ahrs" type="infrared" />
        <subsystem name="radio_control" type="ppm" />
        <subsystem name="telemetry" type="transparent" />
        <subsystem name="gps" type="ublox_utm" />
        <subsystem name="control" />
        <subsystem name="navigation" />
        <configure name="GPS_LED" value="1" />
</firmware>

<modules>
</modules>



<section name="INFRARED" prefix="IR_">
        <define name="ADC_IR1_NUETRAL" value="512" />
        <define name="ADC_IR2_NUETRAL" value="512" />
        <define name="ADC_TOP_NUETRAL" value="512" />
        <define name="HORIZ_SENSOR_ALIGNED" value="1" />
</section>



<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"/>
</commands>

<servos>
        <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
        <servo name="ROLL" no="1" min="1050" neutral="1480" max="1900"/>
        <servo name="PITCH" no="2" min="1750" neutral="1530" max="1250"/>
        <servo name="YAW" no="3" min="1100" neutral="1500" max="1900"/>

</servos>

<command_laws>
        <set servo="THROTTLE" value="@THROTTLE"/>
        <let var="ROLL" value="@ROLL"/>
        <let var="PITCH" value="@PITCH"/>
        <let var="YAW" value="@YAW"/>
</command_laws>



<rc_commands>
        <set command="THROTTLE" value="@THROTTLE"/>
        <set command="ROLL"     value="@ROLL"/>
        <set command="PITCH"    value="@PITCH"/>
        <set command="YAW"      value="@YAW"/>
</rc_commands>



<auto_rc_commands>
        <set command="YAW" value="@YAW"/>
</auto_rc_commands>



<section name="BAT">
        <define name="MILLIAMP_AT_FULL_THROTTLE" value="1200" unit="mA" />
        <define name="CATASTROPHIC_BAT_LEVEL" value="11.0" unit="V" />
        <define name="CRITICAL_BAT_LEVEL" value="11.5" unit="V" />
        <define name="LOW_BAT_LEVEL" value="11.0" unit="V" />
        <define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>

</airframe>*


Radio... I don't know if the two settings make conflicts between the two.

*<?xml version="1.0"?>
<!DOCTYPE radio SYSTEM &quot;radio.dtd&quot;>

<radio name="Futaba" data_min="800" data_max="2200" sync_min="5000"
sync_max="15000" pulse_type="POSITIVE">
  <channel ctl="A" function="THROTTLE" min="1000" neutral="1000" max="2000"
average="0"/>
  <channel ctl="B" function="ROLL"     min="1000" neutral="1500" max="2000"
average="0"/>
  <channel ctl="C" function="PITCH"    min="2000" neutral="1500" max="1000"
average="0"/>
  <channel ctl="D" function="YAW"      min="1000" neutral="1500" max="2000"
average="0"/>
  <channel ctl="E" function="SWITCH1"  min="1000" neutral="1500" max="2000"
average="1"/>
</radio>*

I am just trying to get something to compile then work from there and bring
up more of the functionality that I am looking for.  I have tried using
other examples and configurations but just end up with different compiling
errors.



--
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