|
From: | Felix Ruess |
Subject: | Re: [Paparazzi-devel] Tiny13 V1.1 Basic Airframe Compile |
Date: | Tue, 31 Dec 2013 02:43:57 +0100 |
I added those lines and got more errors. I worked through some of the errors
but for everything I do I still am coming up with some other different
errors when trying to build. I currently have this error...
...
*LD /home/chrismcdowell/paparazzi/var/Tiny/ap/ap.elf
/home/chrismcdowell/paparazzi/var/Tiny/ap/subsystems/ahrs/ahrs_infrared.o:
In function `ahrs_update_infrared':
ahrs_infrared.c:(.text.ahrs_update_infrared+0x188): undefined reference to
`infrared'
collect2: ld returned 1 exit status
make[1]: *** [/home/chrismcdowell/paparazzi/var/Tiny/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/chrismcdowell/paparazzi/sw/airborne'make: Leaving directory `/home/chrismcdowell/paparazzi'*
make: *** [ap.compile] Error 2
...
This is what I am using for my airframe file as of now...
<define name="IR1_SIGN" value="-1"/>
*<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="Chris Tiny">
<firmware name="fixedwing">
<target name="sim" board="pc" />
<target name="ap" board="tiny_1.1" />
<target name="usb_tunnel_1" board="tiny_1.1"/>
<subsystem name="ahrs" type="infrared" />
<subsystem name="radio_control" type="ppm" />
<subsystem name="telemetry" type="transparent" />
<subsystem name="gps" type="ublox_utm" />
<subsystem name="control" />
<subsystem name="navigation" />
<configure name="GPS_LED" value="1" />
</firmware>
<modules>
</modules>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NUETRAL" value="512" />
<define name="ADC_IR2_NUETRAL" value="512" />
<define name="ADC_TOP_NUETRAL" value="512" />
<define name="HORIZ_SENSOR_ALIGNED" value="1" />
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
</section>
<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>
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ROLL" no="1" min="1050" neutral="1480" max="1900"/>
<servo name="PITCH" no="2" min="1750" neutral="1530" max="1250"/>
<servo name="YAW" no="3" min="1100" neutral="1500" max="1900"/>
</servos>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<let var="ROLL" value="@ROLL"/>
<let var="PITCH" value="@PITCH"/>
<let var="YAW" value="@YAW"/>
</command_laws>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="1200" unit="mA" />
<define name="CATASTROPHIC_BAT_LEVEL" value="11.0" unit="V" />
<define name="CRITICAL_BAT_LEVEL" value="11.5" unit="V" />
<define name="LOW_BAT_LEVEL" value="11.0" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/><define name="COURSE_PGAIN" value="0.4" />
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_MAX_SETPOINT" value="20" unit="deg" />
<define name="ROLL_ATTITUDE_GAIN" value="7500." />
<define name="ROLL_RATE_GAIN" value="1500" />
<define name="PITCH_PGAIN" value="8000." />
<define name="PITCH_DGAIN" value="8000." />
<define name="ELEVATOR_OF_ROLL" value="1250" />
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="ALTITUDE_PGAIN" value="0.1" unit="(m/s)/m" />
<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s" />
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"
/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%"
/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%"
/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t" />
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t" />
<define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25" />
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"
unit="rad/(m/s)" />
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)" />
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="30" unit="deg"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value ="12.0" unit="m/s" />
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="CARROT" value="5.0" unit="s" />
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
</airframe>*
--
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