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[Paparazzi-devel] GPS behavour after renaming subsystems to modules.

From: Helge Walle
Subject: [Paparazzi-devel] GPS behavour after renaming subsystems to modules.
Date: Mon, 20 Jun 2016 14:00:26 +0200

I am testing my airframe files after renaming subsystems to modules, and I get some problems with my GPS, which is a Navilock NL-552ettl. The GPS reports a fix in GCS, but the aircraft does not show up on the screen. The waypoints disappear from the screen one after the other after the fix is obtained.
In Paparazzi center, I repeatedly I get the message Invalid_argument("Latlong.of_utm").

When I build the aircraft with GPS as subsystem, I get this on the compiling list:
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps/gps_ubx.o
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps.o

When I build the aircraft with GPS named as module, the order of the two lines are reversed and I get this:
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps.o
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps/gps_ubx.o

With GPS as subsystem everything works normally.

I am on version v5.8.1_stable-4-gbc4bff1.
Below is the firmware part of my airframe file.

Thans for any help,

 <firmware name="fixedwing">
    <target name="ap"                                board="twog_1.0">
      <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"/>
      <define name="USE_I2C0"/>

      <define name="PERIOD_NAVIGATION_0"/><!-- stop NAVIGATION msg in main_ap.c -->

    <target name="sim"                          board="pc"/>

    <!-- Global firmware defines -->
    <define name="LOITER_TRIM"/>
    <define name="AGR_CLIMB"/>
    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>
    <define name="STRONG_WIND"/>

    <!-- Sensors -->
    <!-- <module name="gps"           type="ublox"/> -->
    <subsystem name="gps"           type="ublox"/>

    <module name="imu"           type="sen10121">
       <define name="IMU_SEN10121_ID" value="28"/>
    <module name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
       <define name="AHRS_USE_GPS_HEADING" value="1"/>

    <!-- Radio Control -->
    <module name="radio_control" type="ppm"/>

    <!-- Communication -->
    <module name="telemetry"     type="transparent"/>

    <!-- Navigation -->
    <module name="navigation"/>

    <!-- Actuators -->
    <module name="control"/>

    <module name="ins" type="alt_float"/>

    <module name="baro_ms5611_i2c_twin.xml">
      <define name="MS5611_I2C_DEV_1" value="i2c0"/>
      <define name="MS5611_I2C_DEV_2" value="i2c0"/>
      <define name="MS5611_SLAVE_ADDR_1" value="0xEE"/>
      <define name="MS5611_SLAVE_ADDR_2" value="0xEC"/>
      <define name="MS5611_KALMAN_Q" value=".5"/>
      <define name="MS5611_KALMAN_R" value="6."/>
      <define name="MS5611_AIRSPEED_SCALE_FACTOR" value="2.5"/>
      <define name="SENSOR_SYNC_SEND"/>

    <module name="air_data.xml"/>

 <firmware name="setup">
    <target name="tunnel"          board="twog_1.0"/>
    <target name="setup_actuators"   board="twog_1.0"/>

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