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Re: [Paparazzi-devel] Writing a simulator within nps

From: Hector Garcia de Marina
Subject: Re: [Paparazzi-devel] Writing a simulator within nps
Date: Tue, 15 Sep 2020 13:19:19 +0200

Hi Gautier, thanks for the prompt response.

I fetched the branch of Alvaro (he is the guy in our lab working on it, and now he should be in the mailing list)

and I reproduced his compilation error:

CC /home/noether/Workspace/uav/paparazzi/var/aircrafts/Rover/nps/subsystems/gps/gps_sim_nps.o
subsystems/gps/gps_sim_nps.c:25:10: fatal error: nps_sensors.h: No such file or directory
 #include "nps_sensors.h"
compilation terminated.

Please, note that Alvaro hardcoded in conf/modules/fdm_rover.xml
<file name="nps_fdm_rover.cpp" dir="the route to /paparazzi/sw/simulator/nps"/>

And that he added these lines in ENAC/rover.xml   (later we will remove them yep)
    <target name="nps" board="pc">
      <module name="fdm"   type="rover"/>

I attach a screenshot with the files that we use in Paparazzi center for the compilation.

I think once we can compile a "clone" of nps_jsbsim, then we can continue on our own to add basic physics, etc. I believe we are just missing a small step with one file, include, conf... let us see.

Thanks in advance Gautier!

On Sun, Sep 13, 2020 at 10:49 PM Gautier Hattenberger <> wrote:

Hello Hector,

Your error is quite strange, but it is hard to tell what is going on. Do you have a public branch somewhere that I can close to test it ?

If you look at other fdm modules, the required changes should really limited.

I'm afraid that there is no real doc for NPS...


Le 11/09/2020 à 16:30, Hector Garcia de Marina a écrit :
Hi guys,

One person in my lab started to write a simulator for rovers (and later boats) in Paparazzi.
We would like to start with "cloning" nps_jsbsim. I will tell him to subscribe to the mailing list and in the chat as well xD. This is his report so far, we believe we are missing something, maybe an extra file or to add the names of the new files somewhere.

We are trying to create a new fdm based on the fdm_jsbsim for the rover.

At the moment what I have done have been:

1) Modified rover.xml adding nps target and the module fdm with the rover type.

    <target name="nps" board="pc">
      <module name="fdm"   type="rover"/>

2) Created a file called fdm_rover.xml emplaced in conf/modules based on the conf/modules/fdm_jsbsim.xml

3) Created a file called nsp_fdm_rover.cpp emplaced in sw/simulator/nps based on (just "cloned") the /paparazzi/sw/simulator/nps/nps_fdm_jsbsim.cpp

When we compile, the compiler in Paparazzi center complains that nps_gps cannot find nps_sensor.h .  We do not know whether we need to modify/add something else in order to compile a clone  of the nps for the rover (and then we start writing in the new files the sim).

Or maybe it is easier if there is any documentation about nps xD, so far we are figuring it out by inspection.


Héctor García de Marina

Personal website:
Team member in the open-source UAV hardware and software project Paparazzi:

Paparazzi-devel mailing list

Héctor García de Marina

Personal website:
Team member in the open-source UAV hardware and software project Paparazzi:

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