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Re: [Paparazzi-devel] Airframe-file problem with POI Tracking

From: Joseph Metz
Subject: Re: [Paparazzi-devel] Airframe-file problem with POI Tracking
Date: Tue, 27 Jul 2010 11:24:21 +0200

i modified the mc24.xml to fit my airframe file and builded it with my old airframe file without the POI code.
It runs well without errors.
When i use the new POI airframe file and the modified mc24.xml i get this "error" again:
CC /home/administrator/work/paparazzi3/var/Twinstar/ap/arm7/adc_hw.o
LD /home/administrator/work/paparazzi3/var/Twinstar/ap/ap.elf
/home/administrator/work/paparazzi3/var/Twinstar/ap/main_ap.o: In function `navigation_task':
Does anyone know this error and how to eliminate it?
It´s interesting that i get the same "error" independently if i use this code in <auto_rc_commands> or not:
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@GAIN1"/>
----- Original Message -----
Sent: Tuesday, July 27, 2010 10:57 AM
Subject: Re: [Paparazzi-devel] Airframe-file problem with POI Tracking

Hi Joseph,

maybe some part of the error is missing inthe end? Try using an RC radio/transmitter that has a "GAIN1" function, e.g. mc24.xml


----- original Nachricht --------

Betreff: [Paparazzi-devel] Airframe-file problem with POI Tracking
Gesendet: Di, 27. Jul 2010
Von: Joseph Metz

i want to test the POI tracking feature:
Sadly i can not build the code, i get the failure: main_ap.c:236:error: "RADIO_GAIN1" undeclared (first use in this function)
After deleting
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@GAIN1"/>
in <auto_rc_commands>the failure disappears but the building in the paparazzi center stops here:
CC /home/administrator/work/paparazzi3/var/Twinstar/ap/arm7/adc_hw.o
LD /home/administrator/work/paparazzi3/var/Twinstar/ap/ap.elf
/home/administrator/work/paparazzi3/var/Twinstar/ap/main_ap.o: In function `navigation_task':
If anyone has a airframe file with running POI tracking it would help me much to find the failure in my code any set it up properly.
PS: Here is the airframe-file:
<!-- Twinstar II, Roxxy,YGE Regler, 3s 2500-->

<airframe name="Twinstar_IS">
<!-- commands section, Tuned -->

<servo name="AILERON_LEFT" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="ELEVATOR" no="4" min="1150" neutral="1500" max="1900"/>
<servo name="RUDDER" no="3" min="1900" neutral="1500" max="1100"/>
<servo name="AILERON_RIGHT" no="2" min="1200" neutral="1490" max="1800"/>
<servo name="CAM_PAN" no="6" min="2000" neutral="1550" max="1000"/>
<servo name="CAM_TILT" no="7" min="1000" neutral="1550" max="2000"/>

<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>

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

<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@GAIN1"/>

<section name="MIXER">
<define name="AILERON_DIFF" value="0.7"/>
<define name="COMBI_SWITCH" value="1.0"/>

<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>

<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="30" unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
<define name="TILT_MIN" value="-30" unit="deg"/>
<define name="TILT0" value="0" unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg"/>
<define name="PAN0" value="0" unit="deg"/>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.9"/>
<define name="MAX_PITCH" value="0.6"/>

<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
<!-- IR neutrals and correction, Tuned -->

<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="513"/>
<define name="ADC_IR2_NEUTRAL" value="514"/>
<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"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.99985194206" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-17.1887340546" unit="deg"/>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>

<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="7." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="MIN_CIRCLE_RADIUS" value="50."/>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.95"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<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="0.2"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.25"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.15"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.25"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.25"/>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-2.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
<define name="PITCH_PGAIN" value="-3000"/>
<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="-7000"/>
<define name="ROLL_RATE_GAIN" value="-500"/>

<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/>

 Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!
<define name="BLEND_END" value="15"/>

 Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!
<define name="CLIMB_THROTTLE" value="1."/>
<!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.5"/>
<!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/>
<!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/>
<!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/>

 Percent Navigation for Altitude Error Equal to Start Altitude
<define name="DESCENT_NAV_RATIO" value="1.0"/>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>

CONFIG = "tiny_2_1.h"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
ap.srcs += cam.c point.c traffic_info.c
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS="servos_4017_hw.h" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.srcs += inter_mcu.c
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.srcs += gps_ubx.c gps.c latlong.c
ap.srcs += infrared.c estimator.c
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c
ap.srcs += nav_survey_rectangle.c
ap.srcs += bomb.c
ap.srcs += snav.c
# Config for SITL simulation
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCH = sitl
sim.TARGET = autopilot
sim.TARGETDIR = autopilot
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.srcs += cam.c point.c traffic_info.c
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += bomb.c


--- original Nachricht Ende ----

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