Re: [Paparazzi-devel] problems building arduimu in v4.0.3_stable-2-gdeebbe3-dirty

[Chris Gough]

Yes that worked, thank you Gautier.

I added <define name="USE_I2C0"/> to my AP target, and then it built OK.

I edited sw/airborn/firmwares/fixedwing/main_ap.c (~line 645) to be
like this, and it fixed the ahrs_update_gps() warning

#if USE_GPS
static inline void on_gps_solution( void ) {
  estimator_update_state_gps();
#if USE_AHRS
  ahrs_update_gps();
#endif
#ifdef GPS_TRIGGERED_FUNCTION
  GPS_TRIGGERED_FUNCTION();
#endif
}
#endif


I still got a warning like this, but make exited without error so I
guess it's OK

modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
for 'ahrs_update_gps' [-Wmissing-prototypes]

I can not reproduce the settings issue with these fixes in place. If I
back them all out and restore settins/ins_arduimu_basic.xml, then  the
error says:

CC 
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_ap.o
In file included from ./subsystems/settings.h:13:0,
                 from firmwares/fixedwing/main_ap.c:70:
/home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h: In
function 'settings_get_value':
/home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h:78:21:
error: 'arduimu_calibrate_neutrals' undeclared (first use in this
function)
/home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h:78:21:
note: each undeclared identifier is reported only once for each
function it appears in
firmwares/fixedwing/main_ap.c: At top level:

So I guess I just wont do that then :)

Thanks again.

Chris Gough

On Thu, Nov 1, 2012 at 12:34 AM, Gautier Hattenberger
<address@hidden> wrote:
> Hi,
>
> This setting issue is a bit strange, what was the error message ?
> For the i2c0 undeclared, I guess you are missing a USE_I2C0 define in your
> airframe file.
> The warning about ahrs_update_gps is because the call to this function in
> main_ap.c is not protected by #if USE_AHRS. I don't really have the time to
> do those modification, but can you try them and tell me if it solves your
> problem ?
>
> In airframe:
> <define value="USE_I2C0"/>
>
> In sw/airborne/firmwares/fixedwing/main_ap.c:
> #if USE_AHRS
>   ahrs_update_gps();
> #endif
>
> Thank you
>
> Gautier
>
> Le 31/10/2012 13:40, Chris Gough a écrit :
>
>> I've had a few problems with building Paparazzi version
>> v4.0.3_stable-2-gdeebbe3-dirty on a fresh debian machine. I used with
>> paparazzi-dev and paparazzi-arm-multilib from
>>
>> http://widehat.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/
>>
>> First up, I had to install gedit myself, there's a problem with the
>> deb dependancies. No big deal, just FYI.
>>
>> Then, I tried and failed to build an airframe with an arduimu. I know
>> it's rather obsolete, but I have one lying round so I wanted to try it
>> out. I started with examples/easystar.xml and the instructions from
>> the wiki... the only obvious glitch is the lack of
>> settings/tuning_basic_ins.xml. So I used settings/fixedwing_basic.xml
>> + settings/ins_arduimu_basic.xml, That wouldn't build until I removed
>> this from ins_arduimu_basic.xml:
>>
>>   <dl_setting MAX="1" MIN="0" STEP="1" VAR="arduimu_calibrate_neutrals"
>> shortname="calibrate" values="FALSE|TRUE"/>.
>>
>> After adding <subsystem name="ahrs" type="float_dcm"/> to my sim
>> target, I could build and run a sim session. But I can't build for AP
>> target, criticaly:
>>
>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
>> modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
>> use in this function)
>> modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
>> identifier is reported only once for each function it appears in
>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
>> modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
>> use in this function)
>> modules/ins/ins_arduimu_basic.c: At top level:
>> modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
>> for 'ahrs_update_gps' [-Wmissing-prototypes]
>> make[1]: ***
>> [/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
>> Error 1
>>
>> same problem with module ins_arduimu_basic.xml and ins_arduimu.xml
>>
>> I've pasted my build log and config files, can someone please help me
>> get it working
>>
>> Chris Gough
>>
>>
>> (after make clean)
>>
>> Run 'make -C /home/chris/src/paparazzi -f Makefile.ac
>> AIRCRAFT=blinken_arduimu ap.compile '
>> make: Entering directory `/home/chris/src/paparazzi'
>> -----------------------------------------------------------------------
>> Paparazzi version v4.0.3_stable-2-gdeebbe3-dirty
>> -----------------------------------------------------------------------
>> blinken_arduimu
>> BUILD blinken_arduimu, TARGET ap
>> make[1]: Entering directory `/home/chris/src/paparazzi'
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/airframe.h
>> ##################################################
>>   AIRFRAME MODEL: blinken_arduimu
>> ##################################################
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/modules.h
>> BUILD
>> /home/chris/src/paparazzi/var/blinken_arduimu/generated/periodic_telemetry.h
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/tuning.h
>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>> make[1]: Entering directory `/home/chris/src/paparazzi'
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/radio.h
>> ##################################################
>>   RADIO MODEL: cockpitSX (easy)
>> ##################################################
>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>> make[1]: Entering directory `/home/chris/src/paparazzi'
>> BUILD
>> /home/chris/src/paparazzi/var/blinken_arduimu/generated/flight_plan.h
>> ##################################################
>>   FLIGHT PLAN: Versatile
>> ##################################################
>>
>> Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="20.0"
>> X="80.0" ALT="0"/>
>>
>> BUILD /home/chris/src/paparazzi/var/blinken_arduimu/flight_plan.xml
>> make[1]: Leaving directory `/home/chris/src/paparazzi'
>> cd sw/airborne; make PAPARAZZI_SRC=/home/chris/src/paparazzi
>> PAPARAZZI_HOME=/home/chris/src/paparazzi TARGET=ap all
>> make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
>> DEPEND /home/chris/src/paparazzi/var/blinken_arduimu/ap/.depend
>> make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
>> make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
>> Using CC   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
>> Using LD   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
>> Using CP   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objcopy
>> Using DMP  = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objdump
>> Using NM   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-nm
>> Using SIZE = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-size
>> GCC version:
>> arm-none-eabi-gcc (Linaro GCC 4.6-2011.09-1) 4.6.2 20110908 (prerelease)
>> *** Using multilib ***
>> --------------------------------------
>> AS /home/chris/src/paparazzi/var/blinken_arduimu/ap/crt0.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/actuators.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_arch.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/sys_time.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/sys_time_arch.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./inter_mcu.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_int.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_float.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_double.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_trig_int.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/i2c.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/i2c_arch.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_fbw.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/electrical.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./commands.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/fbw_downlink.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_ap.o
>> firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION!
>> radio control roll channel input has been changed to follow aerospace
>> sign conventions.
>>   You will have to change your radio control xml file to get a positive
>> value when banking right!
>> firmwares/fixedwing/main_ap.c: In function 'on_gps_solution':
>> firmwares/fixedwing/main_ap.c:657:3: warning: implicit declaration of
>> function 'ahrs_update_gps' [-Wimplicit-function-declaration]
>> firmwares/fixedwing/main_ap.c:657:3: warning: nested extern
>> declaration of 'ahrs_update_gps' [-Wnested-externs]
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./estimator.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/ap_downlink.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/armVIC.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/uart.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/uart_arch.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/settings.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/settings_arch.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/adc_arch.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/servos_4017_hw.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control/ppm.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/radio_control/ppm_arch.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/downlink.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/pprz_transport.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/datalink.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
>> firmwares/fixedwing/stabilization/stabilization_attitude.c:40:9: note:
>> #pragma message: CAUTION! ALL control gains have to be positive now!
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/guidance/guidance_v.o
>> firmwares/fixedwing/guidance/guidance_v.c:112:9: note: #pragma
>> message: CAUTION! ALL control gains have to be positive now!
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps/gps_ubx.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps.o
>> CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/nav.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/common_flight_plan.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/traffic_info.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_survey_rectangle.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_line.o
>> CC
>> /home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o
>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
>> modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
>> use in this function)
>> modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
>> identifier is reported only once for each function it appears in
>> modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
>> modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
>> use in this function)
>> modules/ins/ins_arduimu_basic.c: At top level:
>> modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
>> for 'ahrs_update_gps' [-Wmissing-prototypes]
>> make[1]: ***
>> [/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
>> Error 1
>> make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
>> make: *** [ap.compile] Error 2
>> make: Leaving directory `/home/chris/src/paparazzi'
>>
>> DONE (exec make -C /home/chris/src/paparazzi -f Makefile.ac
>> AIRCRAFT=blinken_arduimu ap.compile  2>&1)
>>
>>
>>
>>
>
>
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