how to work with INDI on lisa m2 board?

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how to work with INDI on lisa m2 board?

banditniu
This post was updated on .
how to work with INDI on lisa m2 board?  


CC /root/paparazzi/var/aircrafts/MYAC_indi/nps/subsystems/ins/vf_float.o
LD /root/paparazzi/var/aircrafts/MYAC_indi/nps/simsitl
/root/paparazzi/var/aircrafts/MYAC_indi/nps/firmwares/rotorcraft/autopilot.o: In function `send_dl_value':
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined reference to `stabilization_gains'
/root/paparazzi/var/aircrafts/MYAC_indi/nps/firmwares/rotorcraft/autopilot.o:/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: more undefined references to `stabilization_gains' follow
collect2: error: ld returned 1 exit status
make[1]: *** [/root/paparazzi/var/aircrafts/MYAC_indi/nps/simsitl] Error 1
make[1]: Leaving directory `/root/paparazzi/sw/airborne'
make: *** [nps.compile] Error 2
make: Leaving directory `/root/paparazzi'

FAILED 'make -C /root/paparazzi -f Makefile.ac AIRCRAFT=MYAC_indi nps.compile' with code 2

 many thanks!

quadrotor_lisa_m_2_pwm_PPM_indi.xml
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Re: how to work with INDI on lisa m2 board?

Ewoud

Hi,


I think you probably still have settings for a different controller enabled. In Paparazzi Center, remove all stabilization settings other than the one for INDI.
For more information: https://wiki.paparazziuav.org/wiki/Working_with_INDI#Example_Airframe_Section

Regards,


Ewoud





Van: Paparazzi-devel <paparazzi-devel-bounces+ewoud_smeur=[hidden email]> namens banditniu <[hidden email]>
Verzonden: zaterdag 22 juli 2017 17:47
Aan: [hidden email]
Onderwerp: [Paparazzi-devel] how to work with INDI on lisa m2 board?
 
how to work with INDI on lisa m2 board? 


/CC /root/paparazzi/var/aircrafts/MYAC_indi/nps/subsystems/ins/vf_float.o
LD /root/paparazzi/var/aircrafts/MYAC_indi/nps/simsitl
/root/paparazzi/var/aircrafts/MYAC_indi/nps/firmwares/rotorcraft/autopilot.o:
In function `send_dl_value':
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined
reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined
reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined
reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined
reference to `stabilization_gains'
/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269: undefined
reference to `stabilization_gains'
/root/paparazzi/var/aircrafts/MYAC_indi/nps/firmwares/rotorcraft/autopilot.o:/root/paparazzi/sw/airborne/firmwares/rotorcraft/autopilot.c:269:
more undefined references to `stabilization_gains' follow
collect2: error: ld returned 1 exit status
make[1]: *** [/root/paparazzi/var/aircrafts/MYAC_indi/nps/simsitl] Error 1
make[1]: Leaving directory `/root/paparazzi/sw/airborne'
make: *** [nps.compile] Error 2
make: Leaving directory `/root/paparazzi'

FAILED 'make -C /root/paparazzi -f Makefile.ac AIRCRAFT=MYAC_indi
nps.compile' with code 2/
 many thanks!

quadrotor_lisa_m_2_pwm_PPM_indi.xml
<http://lists.paparazziuav.org/file/n18343/quadrotor_lisa_m_2_pwm_PPM_indi.xml



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Re: how to work with INDI on lisa m2 board?

banditniu
Hi, I removed all the other control loops, but I still got the same error when building.
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Re: how to work with INDI on lisa m2 board?

Ewoud

Hi,


Can you send a link to your conf.xml file? It still seems there are settings for other control loops. Also, from your airframe file it seems that you enabled both indi and indi_simple. This will also probably fail. With the current version of paparazzi, you can choose one attitude stabilization.


Regards,


Ewoud



Van: Paparazzi-devel <paparazzi-devel-bounces+ewoud_smeur=[hidden email]> namens banditniu <[hidden email]>
Verzonden: woensdag 9 augustus 2017 15:35
Aan: [hidden email]
Onderwerp: Re: [Paparazzi-devel] how to work with INDI on lisa m2 board?
 
Hi, I removed all the other control loops, but I still got the same error
when building.



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Re: how to work with INDI on lisa m2 board?

banditniu
Hi , I solved the building problem I just specified it with indi_simple and it worked ,but i am still in the trouble with dealing oscillating problem ! I read your paper published on J of GC&D  and it was amazing !  So can you help me with debugging my drone from oscillating ? Thanks a lot!
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Re: how to work with INDI on lisa m2 board?

Ewoud

Good to hear you liked it! See if you can find some of your answers here: https://wiki.paparazziuav.org/wiki/Working_with_INDI


Optimally, you find out what the actuator dynamics are, i.e. try to log a step response to the motor and try to model the rpm response with a first order filter. Ideally, you also are able to log flight data at full speed (512 hz) on an SD card.


Else, we need to resort to guesswork. In that case, you may try this configuration:
<define name="ACT_DYN_P" value="0.06"/>

<define name="ACT_DYN_Q" value="0.06"/>

<define name="ACT_DYN_R" value="0.06"/>

    <define name="REF_ERR_P" value="107.0"/>
    <define name="REF_ERR_Q" value="107.0"/>
    <define name="REF_ERR_R" value="107.0"/>
    <define name="REF_RATE_P" value="14.0"/>
    <define name="REF_RATE_Q" value="14.0"/>
    <define name="REF_RATE_R" value="14.0"/>

The control effectiveness can be adapted online, if you put the use_adaptive flag to true (can be done through the settings tab). However, this can only work correctly with a reasonable estimate of the actuator dynamics (ACT_DYN).

Hope this helps!


Van: Paparazzi-devel <paparazzi-devel-bounces+ewoud_smeur=[hidden email]> namens banditniu <[hidden email]>
Verzonden: donderdag 10 augustus 2017 14:51
Aan: [hidden email]
Onderwerp: Re: [Paparazzi-devel] how to work with INDI on lisa m2 board?
 
Hi , I solved the building problem I just specified it with indi_simple and
it worked ,but i am still in the trouble with dealing oscillating problem !
I read your paper published on J of GC&D  and it was amazing !  So can you
help me with debugging my drone from oscillating ? Thanks a lot!



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