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

[chrismcdowell25]

I added those lines and got more errors.  I worked through some of the errors
but for everything I do I still am coming up with some other different
errors when trying to build.  I currently have this error...

...
*LD /home/chrismcdowell/paparazzi/var/Tiny/ap/ap.elf
/home/chrismcdowell/paparazzi/var/Tiny/ap/subsystems/ahrs/ahrs_infrared.o:
In function `ahrs_update_infrared':
ahrs_infrared.c:(.text.ahrs_update_infrared+0x188): undefined reference to
`infrared'
collect2: ld returned 1 exit status
make[1]: *** [/home/chrismcdowell/paparazzi/var/Tiny/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/chrismcdowell/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/chrismcdowell/paparazzi'*
...

This is what I am using for my airframe file as of now...

*<!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" />
        <define name="IR1_SIGN" value="-1"/>
        <define name="IR2_SIGN" value="-1"/>
        <define name="TOP_SIGN" 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>

<section name="AUTO1" prefix="AUTO1_">
        <define name="MAX_ROLL" value="0.85"/>
        <define name="MAX_PITCH" value="0.6"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> 
        <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
        <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
        <define name="COURSE_PGAIN"       value="0.4"   />
        <define name="ROLL_MAX_SETPOINT"  value="20"    unit="deg" />
        <define name="ROLL_ATTITUDE_GAIN" value="7500." />
        <define name="ROLL_RATE_GAIN"     value="1500"  />
        <define name="PITCH_PGAIN"        value="8000." />
        <define name="PITCH_DGAIN"        value="8000." />
        <define name="ELEVATOR_OF_ROLL"   value="1250"  />
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">



        <define name="ALTITUDE_PGAIN"     value="0.1" unit="(m/s)/m" />



        <define name="ALTITUDE_MAX_CLIMB" value="3."  unit="m/s" />
        <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" 
unit="%"
/>
        <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"     value=".4"   
unit="%"
/>
        <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"     value="1"    
unit="%"
/>
        <define name="AUTO_THROTTLE_LOITER_TRIM"  value="1000"  unit="pprz_t" />
        <define name="AUTO_THROTTLE_DASH_TRIM"    value="-2500" unit="pprz_t" />
        <define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>
        <define name="AUTO_THROTTLE_IGAIN" value="0.25" />
        <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"        value="0.35"
unit="rad/(m/s)" />
        <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)" />
        <define name="AUTO_PITCH_PGAIN" value="0.1"/>
        <define name="AUTO_PITCH_IGAIN" value="0.025"/>
        <define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/>
        <define name="AUTO_PITCH_MIN_PITCH" value="30" unit="deg"/>
        <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>

<section name="MISC">
        <define name="NOMINAL_AIRSPEED"    value ="12.0" unit="m/s" />
        <define name="CONTROL_RATE"        value="60"    unit="Hz"/>
        <define name="CARROT"              value="5.0"   unit="s" />
        <define name="KILL_MODE_DISTANCE"  value="(1.5*MAX_DIST_FROM_HOME)"/>
        <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>

</airframe>*




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