Tiny13 V1.1 Basic Airframe Compile

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Tiny13 V1.1 Basic Airframe Compile

chrismcdowell25
This post was updated on .
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.  The GPS is the LEA-4P  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 "airframe.dtd">



<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 "radio.dtd">

<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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Re: 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 <[hidden email]> 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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Re: Tiny13 V1.1 Basic Airframe Compile

chrismcdowell25
I am now getting this error.  I was getting this one before as well with some other settings.

...
firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION! radio control roll channel input has been changed to follow aerospace sign conventions.
 You will have to change your radio control xml file to get a positive value when banking right!
firmwares/fixedwing/main_ap.c: In function 'telecommand_task':
firmwares/fixedwing/main_ap.c:376:27: error: 'AUTO1_MAX_ROLL' undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:376:27: note: each undeclared identifier is reported only once for each function it appears in
firmwares/fixedwing/main_ap.c:379:28: error: 'AUTO1_MAX_PITCH' undeclared (first use in this function)
firmwares/fixedwing/main_ap.c: In function 'attitude_loop':
firmwares/fixedwing/main_ap.c:531:5: error: 'H_CTL_PITCH_MAX_SETPOINT' undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:531:5: error: 'H_CTL_PITCH_MIN_SETPOINT' undeclared (first use in this function)
make[1]: *** [/home/chrismcdowell/paparazzi/var/Tiny/ap/firmwares/fixedwing/main_ap.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)
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Re: Tiny13 V1.1 Basic Airframe Compile

antoine drouin
add

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

and the lines

   <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 in the  <section name="HORIZONTAL CONTROL" prefix="H_CTL_"> 

in your airframe file.

It would be nice to have good default values so that airframe files would become mostly empty









On Mon, Dec 30, 2013 at 5:49 AM, chrismcdowell25 <[hidden email]> wrote:
I am now getting this error.  I was getting this one before as well with some
other settings.

...
firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION! radio
control roll channel input has been changed to follow aerospace sign
conventions.
 You will have to change your radio control xml file to get a positive value
when banking right!
firmwares/fixedwing/main_ap.c: In function 'telecommand_task':
firmwares/fixedwing/main_ap.c:376:27: error: 'AUTO1_MAX_ROLL' undeclared
(first use in this function)
firmwares/fixedwing/main_ap.c:376:27: note: each undeclared identifier is
reported only once for each function it appears in
firmwares/fixedwing/main_ap.c:379:28: error: 'AUTO1_MAX_PITCH' undeclared
(first use in this function)
firmwares/fixedwing/main_ap.c: In function 'attitude_loop':
firmwares/fixedwing/main_ap.c:531:5: error: 'H_CTL_PITCH_MAX_SETPOINT'
undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:531:5: error: 'H_CTL_PITCH_MIN_SETPOINT'
undeclared (first use in this function)
make[1]: ***
[/home/chrismcdowell/paparazzi/var/Tiny/ap/firmwares/fixedwing/main_ap.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)



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Re: 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 "airframe.dtd">



<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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Re: Tiny13 V1.1 Basic Airframe Compile

flixr
Administrator
You are missing the infrared_adc.xml module, see http://paparazzi.enac.fr/wiki/Fixedwing_Configuration#Infrared_Sensors
Have a look at the conf/airframes/examples/microjet.xml airframe file as an example.


On Tue, Dec 31, 2013 at 2:13 AM, chrismcdowell25 <[hidden email]> wrote:
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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Re: Tiny13 V1.1 Basic Airframe Compile

chrismcdowell25
This post was updated on .
That example file really helped.  Thanks for the help it is compiling just fine now.  This is the airframe I am using now that is compiling for me.

<!DOCTYPE airframe SYSTEM "airframe.dtd">



<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" />
        <configure name="RADIO_CONTROL_LED" value="2" />
</firmware>



<modules>
        <load name="infrared_adc.xml"/>
</modules>



<section name="INFRARED" prefix="IR_">
        <define name="ADC_IR1_NEUTRAL" value="512"/>
        <define name="ADC_IR2_NEUTRAL" value="512"/>
        <define name="ADC_TOP_NEUTRAL" value="512"/>
        <define name="LATERAL_CORRECTION" value="1."/>
        <define name="LONGITUDINAL_CORRECTION" value="1."/>
        <define name="VERTICAL_CORRECTION" value="1.5"/>
        <define name="HORIZ_SENSOR_TILTED" value="1"/>
        <define name="IR2_SIGN" value="-1"/>
        <define name="TOP_SIGN" value="-1"/>
        <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
        <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
        <define name="CORRECTION_UP" value="1."/>
        <define name="CORRECTION_DOWN" value="1."/>
        <define name="CORRECTION_LEFT" value="1."/>
        <define name="CORRECTION_RIGHT" 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="COURSE_PGAIN" value="1.0"/>
        <define name="COURSE_DGAIN" value="0.3"/>
        <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
        <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
        <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
        <define name="PITCH_PGAIN" value="12000."/>
        <define name="PITCH_DGAIN" value="1.5"/>
        <define name="ELEVATOR_OF_ROLL" value="1250"/>
        <define name="ROLL_SLEW" value="0.1"/>
        <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
        <define name="ROLL_RATE_GAIN" value="1500"/>
</section>



<section name="VERTICAL CONTROL" prefix="V_CTL_">
        <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
        <define name="ALTITUDE_PGAIN" value="0.03"/>
        <define name="ALTITUDE_MAX_CLIMB" value="2."/>
        <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
        <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
        <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
        <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
        <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
        <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
        <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
        <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
        <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
        <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>