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

[Martin Mueller]

Hi Joseph,

for the build on the command line try exporting your paprazzi directory:

http://paparazzi.enac.fr/wiki/Installation#Launching_the_Software

Have not used the camera for some time but there are a number of files with a 
cam.c in the svn, e.g. slicer, red_one, holiday50.

Martin

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

Betreff: Re: [Paparazzi-devel] Airframe-file problem with POI Tracking
Gesendet: Di, 27. Jul 2010
Von: Joseph Metz<address@hidden>

> Hi Felix and Martin,
> 
> the guys from the university bremen installed the paparazzi on my laptop i 
> think on the 22.03.2010.
> 
> I tried to make the file on the command line (terminal?) but it did not run
> 
> (i do not know linux well, sorry).
> If someone want to test the airframe file on his pc, attached is the file.
> 
> I think it could be a first helpf if you, martin would send me a airframe 
> file with the POI tracking....could be that i can find the bug in my code.
> 
> Did no one else used or tested the POI code on his plane?
> 
> Regards,
> Joseph
> ----- Original Message ----- 
> From: "Felix Ruess" <address@hidden>
> To: <address@hidden>
> Sent: Tuesday, July 27, 2010 11:47 AM
> Subject: Re: [Paparazzi-devel] Airframe-file problem with POI Tracking
> 
> 
> Hi Joseph,
> 
> seems that is not the whole error message. Sometimes Paparazzi center
> doesn't display the last part of the output ( I guess a buffer is not
> flushed).
> Could you run make on the command line and paste the full error
> message? make; make AIRCRAFT=Twinstar clean_ac ap
> Also are you running the latest svn version or some older one (which one?)?
> 
> Cheers, Felix
> 
> On Tue, Jul 27, 2010 at 11:24 AM, Joseph Metz <address@hidden> wrote:
> > Hi,
> >
> > 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':
> > main_ap.c:(.text.navigation_task+0
> >
> > 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"/>
> >
> >
> > Regards,
> > Joseph
> >
> >
> > ----- Original Message -----
> > From: Martin Mueller
> > To: address@hidden
> > 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
> >
> > Martin
> >
> > ----- original Nachricht --------
> >
> > Betreff: [Paparazzi-devel] Airframe-file problem with POI Tracking
> > Gesendet: Di, 27. Jul 2010
> > Von: Joseph Metz
> >
> > Hello,
> >
> > i want to test the POI tracking feature:
> > http://paparazzi.enac.fr/wiki/Pan_Tilt_Camera
> >
> > 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':
> > main_ap.c:(.text.navigation_task+0
> >
> > 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.
> >
> >
> > Regards,
> > Joseph
> >
> > PS: Here is the airframe-file:
> >
> > <!-- Twinstar II, Roxxy,YGE Regler, 3s 2500-->
> > ?
> > <airframe name="Twinstar_IS">
> > <!-- commands section, Tuned -->
> > ?
> > <servos>
> > <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"/>
> > </servos>
> > ?
> > <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"/>
> > <axis name="CAM_TILT" failsafe_value="0"/>
> > <axis name="CAM_PAN" failsafe_value="0"/>
> > </commands>
> > ?
> > <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="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"/>
> > </auto_rc_commands>
> > ?
> > <section name="MIXER">
> > <define name="AILERON_DIFF" value="0.7"/>
> > <define name="COMBI_SWITCH" value="1.0"/>
> > </section>
> > ?
> > <command_laws>
> > <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"/>
> > </command_laws>
> > ?
> > <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>
> > ?
> > <section name="AUTO1" prefix="AUTO1_">
> > <define name="MAX_ROLL" value="0.9"/>
> > <define name="MAX_PITCH" value="0.6"/>
> > </section>
> > ?
> > <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"/>
> > </section>
> > <!-- 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>
> > ?
> > <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>
> > ?
> > <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>
> > ?
> > <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>
> > ?
> > <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>
> > ?
> > <section name="NAV">
> > <define name="NAV_PITCH" value="0."/>
> > <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
> > </section>
> > ?
> > <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>
> > ?
> > <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"/>
> > </section>
> > ?
> > <makefile>
> >
> > CONFIG = "tiny_2_1.h"
> >
> > include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
> >
> > FLASH_MODE=IAP
> >
> > ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
> > ap.srcs += cam.c point.c traffic_info.c
> >
> > ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
> > 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.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
> > ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
> >
> > #XBEE
> > #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
> > -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
> > #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
> >
> > #TRANSPARENT
> > ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
> > -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
> > -DDATALINK=PPRZ -DUART1_BAUD=B9600
> > ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
> >
> > ap.CFLAGS += -DINTER_MCU
> > ap.srcs += inter_mcu.c
> >
> > ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
> > ap.srcs += $(SRC_ARCH)/adc_hw.c
> >
> > ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
> > -DGPS_USE_LATLONG
> > ap.srcs += gps_ubx.c gps.c latlong.c
> >
> > ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
> > ap.srcs += infrared.c estimator.c
> >
> > ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
> > 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.ARCHDIR = $(ARCHI)
> > sim.ARCH = sitl
> > sim.TARGET = autopilot
> > sim.TARGETDIR = autopilot
> > sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
> > -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
> > 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.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
> > sim.srcs += cam.c point.c traffic_info.c
> > sim.CFLAGS 
> > += -DBOARD_CONFIG="tiny.h" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
> > sim.srcs += nav_line.c nav_survey_rectangle.c
> >
> > sim.srcs += bomb.c
> >
> > </makefile>
> > </airframe>
> >
> > --- original Nachricht Ende ----
> >
> > ________________________________
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> >
> 
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel 
> 

--- original Nachricht Ende ----