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From: | Jorn Anke |
Subject: | [Paparazzi-devel] Baro settings for Krooz |
Date: | Thu, 19 Dec 2013 18:36:50 +0100 |
Hi, I am trying to configure a Krooz sd board to use the on-board barometer for altitude. The baro settings in the airframe file currently looks like this: <firmware name = "fixedwing"> <target name = "ap" board = "krooz_sd"> <configure name = "KROOZ_BARO" value = "BARO_MS5611_SPI"/> <configure name = "USE_BARO_BOARD" value = "TRUE"/> ... And I have tried with and without this line in the INS section: <section name = "INS" prefix = "INS_"> <define name = "BARO_SENS" value = "22.3" integer = "16"/> ... The configuration runs more or less ok, (a few warnings), but uploads and runs fine. What I observe in the GCS is that altitude is changing between maybe 145m and 210m over a period of about an hour. This is more, and the change in altitude is also faster then I would have expected if the baro-readings was taken into account. So I suspect something is not correct in my current configuration. Anyone who can see what I need to change? -------------- Also, I can't find a reference in the schematics for the board - for how to configure a connector as a GPIO, for triggering a chdk enabled camera. (I did test the following settings, which compiles...) <!-- Test Krooz, added 2013.12.18 --> <define name = "DC_SHUTTER_LED" value = "1"/> <define name = "USE_LED_1" value = "1"/> Cheers, Jorn --------------- RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Krooz_Skywalker ap.compile ' make: Entering directory `/home/jorn/paparazzi' ----------------------------------------------------------------------- Paparazzi version v5.1_devel-716-ge568d61-dirty ----------------------------------------------------------------------- My_Krooz_Skywalker BUILD My_Krooz_Skywalker, TARGET ap make[1]: Entering directory `/home/jorn/paparazzi' GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/airframe.h ################################################## AIRFRAME MODEL: My_Krooz_Skywalker ################################################## GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/modules.h Module baro_sim unloaded, target ap not supported GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/periodic_telemetry.h GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/settings.h GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/autopilot_core.h make[1]: Leaving directory `/home/jorn/paparazzi' make[1]: Entering directory `/home/jorn/paparazzi' GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/radio.h ################################################## RADIO MODEL: FASST TX Module ################################################## make[1]: Leaving directory `/home/jorn/paparazzi' make[1]: Entering directory `/home/jorn/paparazzi' GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/flight_plan.h ################################################## FLIGHT PLAN: Test zamboni ################################################## Warning: low altitude (240<185+60) in <waypoint Y="160" X="-180" NAME="AF" ALT="240"/> Warning: low altitude (170<185+60) in <waypoint Y="10" X="-20" NAME="TD" ALT="170.0"/> GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/flight_plan.xml make[1]: Leaving directory `/home/jorn/paparazzi' cd sw/airborne; make TARGET=ap all Using "arch/stm32/krooz.ld" as ldscript for target "ap". make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne' Using CC = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc GCC version: arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.7.4 20130913 (release) [ARM/embedded-4_7-branch revision 202601] CREATING object dir /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/sys_time.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/sys_time_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./inter_mcu.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_int.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_float.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_double.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_trig_int.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_orientation_conversion.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/i2c.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/i2c_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/ms5611.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/ms5611_i2c.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/boards/baro_board_ms5611_i2c.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main_fbw.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/electrical.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/commands.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/actuators.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/fbw_downlink.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main_ap.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/autopilot.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/ap_downlink.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/telemetry.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/state.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/settings.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/settings_arch.o arch/stm32/subsystems/settings_arch.c: In function 'pflash_program_bytes': arch/stm32/subsystems/settings_arch.c:194:55: warning: unused parameter 'flash' [-Wunused-parameter] arch/stm32/subsystems/settings_arch.c:195:32: warning: unused parameter 'src' [-Wunused-parameter] arch/stm32/subsystems/settings_arch.c:196:32: warning: unused parameter 'size' [-Wunused-parameter] arch/stm32/subsystems/settings_arch.c:197:32: warning: unused parameter 'chksum' [-Wunused-parameter] CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/air_data.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./subsystems/ins.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./subsystems/ins/ins_alt_float.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/lisa/plug_sys.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/gpio_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/led_hw.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/uart.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/uart_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/adc_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/radio_control.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/radio_control/ppm.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/radio_control/ppm_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/downlink.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/pprz_transport.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/datalink.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/guidance/guidance_v.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/imu.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/boards/krooz/imu_krooz.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/imu/imu_krooz_sd_arch.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/mpu60x0.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/mpu60x0_i2c.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/hmc58xx.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs/ahrs_int_cmpl_quat.o subsystems/ahrs/ahrs_int_cmpl_quat.c:79:2: warning: #warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY [-Wcpp] CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs/ahrs_aligner.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/gps/gps_ubx.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/gps.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/nav.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/common_flight_plan.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/traffic_info.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/nav_survey_rectangle.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/nav_line.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/gps/gps_ubx_ucenter.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/nav/zamboni_survey.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/digital_cam/led_cam_ctrl.o CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/digital_cam/dc.o LD /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.elf OBJCB /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.bin OBJCH /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.hex Current size: /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.elf : section size addr .text 0x19e5c 0x8004000 .data 0x3fac 0x20000000 .bss 0x1640 0x20003fb0 .debug_info 0x43610 0x0 .debug_abbrev 0x8a0a 0x0 .debug_aranges 0x19d8 0x0 .debug_line 0xe42d 0x0 .debug_str 0x7917 0x0 .comment 0x70 0x0 .ARM.attributes 0x3b 0x0 .debug_loc 0x181c8 0x0 .debug_ranges 0x5058 0x0 .debug_frame 0x48ec 0x0 Total 0xa4735 make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne' make: Leaving directory `/home/jorn/paparazzi' DONE 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Krooz_Skywalker ap.compile' |
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