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Re: [Paparazzi-devel] imu and simulation
From: |
Felix Ruess |
Subject: |
Re: [Paparazzi-devel] imu and simulation |
Date: |
Mon, 20 Jun 2011 21:50:53 +0200 |
Hi Tobi,
there is no simulation of IMU for the normal fixedwing sim so far,
this is why you get the error.
As a workaround for now you can just include the imu and ahrs
subsystems for ap only and use IR for the sim:
<target name="sim" board="pc">
<subsystem name="infrared"/>
</target>
<target name="ap" board="twog_1.0">
<subsystem name="imu" type="aspirin_i2c"/> <!-- IMU -->
<subsystem name="ahrs" type="ic">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
....
</target>
Cheers, Felix
On Fri, Jun 10, 2011 at 10:31 AM, <address@hidden> wrote:
>
> Hey another dump question, :-)
>
> i m trying to switch my fixedwing from ir to imu (aspirin)
> the aspirin with twog is running just fine so far but.... when i try to
> compile for the simulator i always get this massage
>
> CC /home/tob/paparazzi/var/Tob_Aspirin/sim/firmwares/fixedwing/main_ap.o
> firmwares/fixedwing/main_ap.c: In function ‘event_task_ap’:
> firmwares/fixedwing/main_ap.c:617: warning: implicit declaration of function
> ‘ImuEvent’
> i don t get it could someone point me into the right direction - what am i
> missing?
> for the ap compiling is no problem at all and the imu is running smooth and
> nicely
> (airframe below)
>
> many thanks in advance --
>
> Tobi
>
>
>
>
>
>
>
> my airframe section is
>
> <airframe name="Tobias Aspirin">
>
> <firmware name="fixedwing">
>
> <target name="sim" board="pc"/>
> <target name="ap" board="twog_1.0">
>
> <define name="STRONG_WIND"/>
> <define name="WIND_INFO"/>
> <define name="WIND_INFO_RET"/>
>
> <configure name="PERIODIC_FREQUENCY" value="120"/>
> <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
> <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
> <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
>
> <configure name="AHRS_ALIGNER_LED" value="3"/>
> <configure name="CPU_LED" value="3"/>
> </target>
>
> <subsystem name="i2c"/>
> <subsystem name="radio_control" type="ppm"/> <!-- Radio -->
> <subsystem name="gps" type="ublox_lea4p"/> <!-- GPS -->
> <subsystem name="telemetry" type="transparent"/> <!-- Communication
> -->
>
> <subsystem name="navigation" type="extra"/>
>
>
> <subsystem name="imu" type="aspirin_i2c"/> <!-- IMU -->
>
>
> <subsystem name="ahrs" type="ic">
> <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
> </subsystem>
>
> <subsystem name="control"/>
> <!-- <subsystem name="control_adaptive"/> -->
> <define name="AGR_CLIMB"/>
> <define name="LOITER_TRIM"/>
> <define name="ALT_KALMAN"/>
> </firmware>
>
>
>
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