I've just switched over to using module and was happy to see that it was easier to switch between ppm and spektrum for the radio_type. Unfortunately I've tried spektrum in a non booz build and it would appear this is still very much set up for booz.
In order to proceed with the build I modified the radio_control_spektrum.makefile to remove the check for booz and always include the line: ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
Run 'make -C /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software -f Makefile.ac AIRCRAFT=Microjet clean_ac '
make: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Microjet
rm -fr /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet
make: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Run 'make -C /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software -f Makefile.ac AIRCRAFT=Microjet ap.compile '
make: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Microjet
BUILD Microjet, TARGET ap
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/airframe.h
##################################################
AIRFRAME MODEL: Microjet
##################################################
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/modules.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/settings.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/tuning.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/periodic.h
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/radio.h
##################################################
RADIO MODEL: cockpitMM
##################################################
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/flight_plan.h
##################################################
FLIGHT PLAN: Basic
##################################################
Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="57.0" X="28.8" ALT="0.0"/>
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/flight_plan.xml
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
cd sw/airborne; make PAPARAZZI_SRC=/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software PAPARAZZI_HOME=/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software TARGET=ap all
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
DEPEND /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/.depend
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
AS /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/crt0.o
CC /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/sys_time.o
CC /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/./inter_mcu.o
In file included from ./subsystems/radio_control/spektrum.h:31,
from subsystems/radio_control.h:35,
from inter_mcu.h:44,
from inter_mcu.c:25:
/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/s
The output appears to be truncated and I can't see a sensible error.
<!DOCTYPE airframe SYSTEM "airframe.dtd">
-->
<airframe name="EasyGlider Tiny 2.1">
<!-- commands section -->
<servos>
<servo name="AILERON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="THROTTLE" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="RUDDER" no="7" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" 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"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="AILERON_DIFF" value="0.66"/>
<define name="COMBI_SWITCH" value="0.5"/>
</section>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<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"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.80"/>
<define name="MAX_PITCH" value="0.80"/>
</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"/>
<!--
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
-->
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="514"/>
<define name="ADC_IR2_NEUTRAL" value="513"/>
<define name="ADC_TOP_NEUTRAL" value="516"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
<!--
<define name="HORIZ_SENSOR_TILTED" value="1"/>
-->
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3" 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>
<!--
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
-->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="15000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!--
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
<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="-0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.5"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.8"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-10000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</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="15"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
<define name="GYRO_MAX_RATE" value="200."/>
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
<define name="ALT_ROLL__PGAIN" value="1.0"/>
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
<define name="ROLL_RATE_IGAIN" value="0.0"/>
<define name="ROLL_RATE_DGAIN" value="0.0"/>
</section>
-->
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="70" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11">
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target>
<subsystem name="radio_control" type="spektrum"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<param name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators are automatically chosen according to the board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation" type="extra"/><!--this includes OSAMNav, nav, discsurvey and nav_cube as well-->
</firmware>
<!-- Carefull: add the location after!! -->
<makefile location="after">
# specific stuff that only you are needing... be aware that files might move, so USE the firmware-source variable
</makefile>
</airframe>
This compiles if I change the <subsystem name="radio_control" type="spektrum"/> to <subsystem name="radio_control" type="ppm"/> but not when set to spektrum.
I'm trying to get over this stumbling block before I move onto enabling the SPI (I'm using an external SPI to UART convertor). Any help or advice would be greatly appreciated.