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[Paparazzi-devel] twog crashes in the first 10 seconds #3

From: Chris
Subject: [Paparazzi-devel] twog crashes in the first 10 seconds #3
Date: Thu, 2 Jun 2016 14:30:39 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:38.0) Gecko/20100101 Thunderbird/38.8.0
After much more testing i found that the problem also appears if i make any airframe change so it is really a hit and miss situation. Maybe the compiler is problematic or an update i did causes the problem because as i said the problem exists even if i use the older 5.8.1 version. 
Maybe i should reinstall the gcc arm none eabi or the new gcc arm embedded.
In any case here is the airframe file also:

<!DOCTYPE airframe SYSTEM "../airframe.dtd">


<airframe name="C177_flaperons_twog.xml">

<firmware name="fixedwing">

<target name="ap"             board="twog_1.0"/>
<target name="sim"             board="pc"/>


<!--#######################################################################################-->
<!--############################## GLOBAL DEFINITIONS #################################--> 
<!--#######################################################################################-->

    <!--  "configure" pass the definition in the makefile -->
    <configure name="SYS_TIME_LED" value="1"/>
    <configure name="GPS_LED" value="2"/>
    <!--  "define" pass the definition in the C preprocessor -->
    <define name="USE_LED_1"/>
    <define name="USE_LED_2"/>
    <define name="USE_LED_3"/>
        <define name="AGR_CLIMB"/>
    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>
    <define name="STRONG_WIND"/>
    <define name="USE_I2C"/>
    <define name="USE_I2C0"/>
<!--    <define name="SENSOR_SYNC_SEND"/>  -->
    <define name="USE_AHRS_GPS_ACCELERATIONS"/>

<!--#######################################################################################-->
<!--############################## SUBSYSTEMS #################################--> 
<!--#######################################################################################-->
<!-- "define" goes to the C preprocessor, "configure" configures the makefile --> 

    <subsystem name="telemetry" type="transparent">
    <configure name="MODEM_BAUD" value="B115200"/>
<!--    <configure name="MODEM_PORT" value="UART2"/> -->
<!--    <configure name="MODEM_LED"  value="5"/>  -->
        </subsystem>
        <module name="gps" type="ublox">
    <configure name="GPS_BAUD"          value="B38400"/>
<!--    <configure name="GPS_PORT" value="UART3"/>  -->
<!--    <configure name="GPS_LED"           value="none"/> -->
        </module>

    <subsystem name="control" />
    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="navigation" />
        <subsystem name="imu"    type="ppzuav" />
    <!-- MAGNETOMETER IS NOT WORKING IN DCM BE CAREFULL -->
        <subsystem name="ahrs" type="float_dcm">
        <define name="USE_MAGNETOMETER" value="0"/>
        <define name="USE_MAGNETOMETER_ONGROUND" value="0"/>
        </subsystem>
    <subsystem name="ins" type="alt_float"/>
    <subsystem name="spi" type="master"/>
</firmware>


<!--#######################################################################################-->
<!--################################ MODULES #################################--> 
<!--#######################################################################################-->
 <modules>
    <load name="nav_line.xml"/>
    <load name="my_cam_yaw_pitch_nose_180.xml"/>
</modules>


<!--#######################################################################################-->
<!--############################# SERVOS AND CONTROLS #################################--> 
<!--#######################################################################################-->
<!-- commands section -->
<servos>
<servo name="AILERON_LEFT" no="0" min="1000" neutral="1500" max="2000"/> <servo name="AILERON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/> <servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/> <servo name="MOTOR" no="2" min="1100" neutral="1100" max="2000"/> <servo name="RUDDER" no="3" min="1000" neutral="1500" max="2000"/> <servo name="CAMERA_ZOOM" no="4" min="943" neutral="1520" max="2056"/> <servo name="CAMERA_PAN" no="6" min="2056" neutral="1520" max="943"/> <servo name="CAMERA_TILT" no="7" min="996" neutral="1221" max="2004"/> 
</servos>

<commands>
    <axis name="ROLL"        failsafe_value="0"/>
    <axis name="PITCH"        failsafe_value="0"/>
    <axis name="THROTTLE"        failsafe_value="0"/>
    <axis name="YAW"        failsafe_value="0"/>
    <axis name="FLAPS"        failsafe_value="0"/>
    <axis name="CAM_TILT"        failsafe_value="0"/>
    <axis name="CAM_PAN"        failsafe_value="0"/>
    <axis name="CAM_ZOOM"        failsafe_value="0"/>
</commands>

<rc_commands>
    <set command="ROLL"          value="@ROLL"/>
    <set command="PITCH"         value="@PITCH"/>
    <set command="THROTTLE"      value="@THROTTLE"/>
    <set command="YAW"        value="@YAW"/>
    <set command="FLAPS"          value="@FLAPS"/>
</rc_commands>

<section name="MIXER">
        <define name="AILERON_DIFF" value="0.66"/>
    <define name="COMBI_SWITCH" value="0.3"/>
</section>

<command_laws>
        <let var="roll" value="@ROLL"/>
        <let var="flaps" value="@FLAPS"/>
        <set servo="AILERON_LEFT" value="$roll + $flaps"/>
        <set servo="AILERON_RIGHT" value="$roll - $flaps"/>
<!--
<set servo="AILERON_LEFT" value="(($roll > 0 ? 1 : AILERON_DIFF) * $roll) + $flaps"/> <set servo="AILERON_RIGHT" value="(($roll > 0 ? AILERON_DIFF : 1) * $roll) - $flaps"/> 
-->
    <set servo="ELEVATOR"        value="@PITCH"/>
    <set servo="MOTOR"        value="@THROTTLE"/>
    <set servo="RUDDER"        value="@YAW - (@ROLL*COMBI_SWITCH)"/>
    <set servo="CAMERA_TILT"    value="@CAM_TILT"/>
    <set servo="CAMERA_PAN"        value="@CAM_PAN"/>
    <set servo="CAMERA_ZOOM"    value="@CAM_ZOOM"/>
</command_laws>
<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 --> 
 <auto_rc_commands>
<!--    <set command="YAW" value="@YAW"/>  -->
 </auto_rc_commands>


<ap_only_commands>
<!--    <copy command="ANT_PAN"/>  -->
</ap_only_commands>


<!--#######################################################################################-->
<!--################################# I M U SETUP #################################--> 
<!--#######################################################################################-->
<!-- Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm --> 
<!-- Magnetic field intensity / total field strength -->
<!-- Calculated for PIRAEUS HELLAS 31 MAY 2013 declination = 3.59 degrees, 5.9 deg/year--> 
<section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="(26536.9/45821.6)" />
    <define name="H_Y" value="(1850.1/45821.6)" />
    <define name="H_Z" value="(37309.3/45821.6) " />
    <define name="MAG_DECLINATION" value="(RadOfDeg(4))" />
</section>


<section name="IMU" prefix="IMU_">

    <define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
    <define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>

    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="1"/>
    <define name="GYRO_R_SIGN" value="1"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0"/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 --> 
    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
    <define name="GYRO_R_SENS" value="4.947" integer="16"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="1"/>
    <define name="ACCEL_Z_SIGN" value="1"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y --> 
    <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

<!-- PPZUAVIMU does not have a magnetometer. -->
    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <!-- Found with calibrate.py script -->
    <define name="MAG_X_NEUTRAL" value="73"/>
    <define name="MAG_Y_NEUTRAL" value="118"/>
    <define name="MAG_Z_NEUTRAL" value="169"/>

    <define name="MAG_X_SENS" value="4.25741044617" integer="16"/>
    <define name="MAG_Y_SENS" value="4.26451705702" integer="16"/>
    <define name="MAG_Z_SENS" value="4.87790997442" integer="16"/>

</section>

<!--#######################################################################################-->
<!--################## AIRCRAFT ATTITUDE TRIMMING AND AUTO1 LIMITS #####################--> 
<!--#######################################################################################-->
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4.0)" unit="radians"/> <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/> 
</section>

<section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="40" unit="deg"/>
    <define name="MAX_PITCH" value="30" unit="deg"/>
</section>


<!--#######################################################################################-->
<!--######################### AIRCRAFT VERTICAL CONTROL SETUP ########################--> 
<!--#######################################################################################-->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
                    <!-- OUTER LOOP PARAMETERS  -->
<!-- The below definition affect the throttle percentage shown on the GCS. --> 
    <define name="POWER_CTL_BAT_NOMINAL" value="12.0" unit="volt"/>
    <!-- outer loop ALTITUDE proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.07" unit="(m/s)/m"/>
    <!-- outer loop ALTITUDE LIMIT (saturation) -->
    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
    <!-- outer loop AIRSPEED proportional gain -->
    <define name="AIRSPEED_PGAIN"    value="0.2"/>

                   <!-- INNER LOOP PARAMETERS -->
        <!-- The below definitions are used almost always -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60" unit="%"/> 
    <define name="THROTTLE_SLEW_LIMITER"             value="0.6" unit="s"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20)"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>

    <!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0.0" unit="rad"/> 

    <define name="AUTO_THROTTLE_PGAIN" value="0.008"unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
    <define name="AUTO_THROTTLE_DGAIN" value="0.001"/>

    <!-- Climb loop (pitch) -->
        <!-- magnitude of elevator movement on altitude change -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/> <!-- 0.05 --> 
        <define name="AUTO_PITCH_PGAIN" value="0.04"/> <!--0.052-->
        <define name="AUTO_PITCH_DGAIN" value="0.0"/>
        <define name="AUTO_PITCH_IGAIN" value="0.01"/> <!--0.065-->

    <!-- Loiter and Dash trimming -->
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/> 
    <define name="PITCH_LOITER_TRIM"            value="0" unit="pprz_t"/>
    <define name="PITCH_DASH_TRIM"                value="0" unit="pprz_t"/>

</section>



<!--#######################################################################################-->
<!--######################## AIRCRAFT HORIZONTAL CONTROL SETUP ########################--> 
<!--#######################################################################################-->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN"                value="0.7"/>
        <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>

    <define name="PITCH_MAX_SETPOINT"            value="20" unit="deg"/>
    <define name="PITCH_MIN_SETPOINT"            value="-20" unit="deg"/>
    <define name="PITCH_PGAIN"                value="8000."/>

    <define name="ROLL_MAX_SETPOINT"            value="30" unit="deg"/>
    <define name="ROLL_SLEW"                value="0.1"/>
    <define name="ROLL_ATTITUDE_GAIN" value="9000"/>
    <define name="ROLL_RATE_GAIN" value="500."/>

    <define name="ELEVATOR_OF_ROLL" value="1350"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>

    <define name="PITCH_DGAIN"                value="6."/>
    <define name="PITCH_IGAIN"                value="100."/>

</section>


<!--#######################################################################################-->
<!--############################ AIRBORNE BATTERY SETUP #############################--> 
<!--#######################################################################################-->
<section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="22000"/>
    <define name="BAT_CAPACITY" value="10000."/>
    <define name="CATASTROPHIC_BAT_LEVEL"            value="8" unit="V"/>
    <define name="CRITIC_BAT_LEVEL"                value="9.3" unit="V"/>
    <define name="LOW_BAT_LEVEL"                value="10.5" unit="V"/>
    <define name="MAX_BAT_LEVEL"                value="12.0" unit="V"/>
</section>

<!--#######################################################################################-->
<!--############################# MISCELLANEOUS SETUP ###############################--> 
<!--#######################################################################################-->

<section name="MISC">
    <define name="CLIMB_AIRSPEED"                value="16." unit="m/s"/>
    <define name="GLIDE_AIRSPEED"                value="14." unit="m/s"/>
    <define name="RACE_AIRSPEED"                value="26." unit="m/s"/>
    <define name="STALL_AIRSPEED"                value="12." unit="m/s"/>
<define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/> <!--default=1--> 
    <define name="NOMINAL_AIRSPEED"                value="22" unit="m/s"/>
        <define name="MINIMUM_AIRSPEED" value="16." unit="m/s"/>
        <define name="MAXIMUM_AIRSPEED" value="26." unit="m/s"/>
    <define name="CARROT"                    value="3." unit="s"/>
    <define name="GLIDE_RATIO"                value="5."/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY"            value="60" unit="Hz"/>
    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
    <define name="NO_XBEE_API_INIT" value="TRUE"/>
    <define name="TRIGGER_DELAY"                value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
    <define name="MIN_CIRCLE_RADIUS"            value="80."/>
    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
</section>

<section name="AGGRESSIVE"        prefix="AGR_">
<define name="BLEND_START" value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!--> <define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb --> <define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb --> <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent --> <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude --> 
    <define name="DESCENT_NAV_RATIO"            value="1.0"/>
</section>

  <section name="NAV">
    <define name="NAV_PITCH"        value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
  </section>

  <section name="GLS_APPROACH" prefix="APP_">
    <define name="ANGLE" value="5"/>
    <define name="INTERCEPT_AF_TOD" value="10"/>
    <define name="TARGET_SPEED" value="13"/>
  </section>

<section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS"            value="1" unit="s"/>
        <define name="DEFAULT_THROTTLE" value="0.6" unit="%"/>
        <define name="DEFAULT_ROLL"                value="10" unit="deg"/>
        <define name="DEFAULT_PITCH"                value="1" unit="deg"/>
    <define name="HOME_RADIUS"                value="100" unit="m"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
</section>

<section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE"                value="PPRZ"/>
    <define name="DEVICE_ADDRESS" value="...."/>
 </section>

  <section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/> 
    <define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>
  </section>

  <section name="GCS">
    <define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
    <define name="ALT_SHIFT_PLUS" value="10"/>
    <define name="ALT_SHIFT_MINUS" value="-10"/>
    <define name="SPEECH_NAME" value="Cessna"/>
  </section>

  <section name="SIMU">
    <define name="WEIGHT" value ="1.8"/>
    <define name="YAW_RESPONSE_FACTOR" value =".9"/> <!--default 1.-->
    <define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
    <define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
  </section>

 <makefile>
sim.srcs += my_code.c
ap.srcs +=  my_code.c
#ap_flags += -DUSE_SPI -DSPI_MASTER
#ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
#LDFLAGS += -lnosys
 </makefile>
</airframe>
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