Re: [Paparazzi-devel] imu and simulation

[Felix Ruess]

Hi,

Christophe is right, when you have settings for debugging and tuning
that are only for imu/ahrs it won't work in simulation with the IR
subsystem.
We should really look at writing some simple imu/ahrs sim.... and
automatic settings selection according to the subsystems would be
nice.

Cheers, Felix

On Tue, Jun 21, 2011 at 7:34 AM, Christophe De Wagter
<address@hidden> wrote:
> Hi Felix,
>
> The workaround is to make a new airframe with infrared for the simulation
> part since the settings xmls are not compatible.
>
> Christophe
>
> On Jun 20, 2011 10:12 PM, "Felix Ruess" <address@hidden> wrote:
>> 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>
>>>
>>>
>>>
>>> ___________________________________________________________
>>> Schon gehört? WEB.DE hat einen genialen Phishing-Filter in die
>>> Toolbar eingebaut! http://produkte.web.de/go/toolbar
>>>
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>>>
>>
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>