I've had a few problems with building Paparazzi version
v4.0.3_stable-2-gdeebbe3-dirty on a fresh debian machine. I used with
paparazzi-dev and paparazzi-arm-multilib from
http://widehat.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/
First up, I had to install gedit myself, there's a problem with the
deb dependancies. No big deal, just FYI.
Then, I tried and failed to build an airframe with an arduimu. I know
it's rather obsolete, but I have one lying round so I wanted to try it
out. I started with examples/easystar.xml and the instructions from
the wiki... the only obvious glitch is the lack of
settings/tuning_basic_ins.xml. So I used settings/fixedwing_basic.xml
+ settings/ins_arduimu_basic.xml, That wouldn't build until I removed
this from ins_arduimu_basic.xml:
<dl_setting MAX="1" MIN="0" STEP="1" VAR="arduimu_calibrate_neutrals"
shortname="calibrate" values="FALSE|TRUE"/>.
After adding <subsystem name="ahrs" type="float_dcm"/> to my sim
target, I could build and run a sim session. But I can't build for AP
target, criticaly:
modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
use in this function)
modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
identifier is reported only once for each function it appears in
modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
use in this function)
modules/ins/ins_arduimu_basic.c: At top level:
modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
for 'ahrs_update_gps' [-Wmissing-prototypes]
make[1]: ***
[/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
Error 1
same problem with module ins_arduimu_basic.xml and ins_arduimu.xml
I've pasted my build log and config files, can someone please help me
get it working
Chris Gough
(after make clean)
Run 'make -C /home/chris/src/paparazzi -f Makefile.ac
AIRCRAFT=blinken_arduimu ap.compile '
make: Entering directory `/home/chris/src/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v4.0.3_stable-2-gdeebbe3-dirty
-----------------------------------------------------------------------
blinken_arduimu
BUILD blinken_arduimu, TARGET ap
make[1]: Entering directory `/home/chris/src/paparazzi'
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/airframe.h
##################################################
AIRFRAME MODEL: blinken_arduimu
##################################################
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/modules.h
BUILD
/home/chris/src/paparazzi/var/blinken_arduimu/generated/periodic_telemetry.h
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/settings.h
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/tuning.h
make[1]: Leaving directory `/home/chris/src/paparazzi'
make[1]: Entering directory `/home/chris/src/paparazzi'
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/radio.h
##################################################
RADIO MODEL: cockpitSX (easy)
##################################################
make[1]: Leaving directory `/home/chris/src/paparazzi'
make[1]: Entering directory `/home/chris/src/paparazzi'
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/generated/flight_plan.h
##################################################
FLIGHT PLAN: Versatile
##################################################
Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="20.0"
X="80.0" ALT="0"/>
BUILD /home/chris/src/paparazzi/var/blinken_arduimu/flight_plan.xml
make[1]: Leaving directory `/home/chris/src/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/chris/src/paparazzi
PAPARAZZI_HOME=/home/chris/src/paparazzi TARGET=ap all
make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
DEPEND /home/chris/src/paparazzi/var/blinken_arduimu/ap/.depend
make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
make[1]: Entering directory `/home/chris/src/paparazzi/sw/airborne'
Using CC = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using LD = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using CP = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objcopy
Using DMP = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objdump
Using NM = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-nm
Using SIZE = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-size
GCC version:
arm-none-eabi-gcc (Linaro GCC 4.6-2011.09-1) 4.6.2 20110908 (prerelease)
*** Using multilib ***
--------------------------------------
AS /home/chris/src/paparazzi/var/blinken_arduimu/ap/crt0.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/actuators.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_arch.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/sys_time.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/sys_time_arch.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./inter_mcu.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_int.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_float.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_geodetic_double.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/math/pprz_trig_int.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/i2c.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/i2c_arch.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_fbw.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/electrical.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./commands.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/fbw_downlink.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main_ap.o
firmwares/fixedwing/main_ap.c:85:9: note: #pragma message: CAUTION!
radio control roll channel input has been changed to follow aerospace
sign conventions.
You will have to change your radio control xml file to get a positive
value when banking right!
firmwares/fixedwing/main_ap.c: In function 'on_gps_solution':
firmwares/fixedwing/main_ap.c:657:3: warning: implicit declaration of
function 'ahrs_update_gps' [-Wimplicit-function-declaration]
firmwares/fixedwing/main_ap.c:657:3: warning: nested extern
declaration of 'ahrs_update_gps' [-Wnested-externs]
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/./estimator.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/ap_downlink.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/armVIC.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/main.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/mcu_periph/uart.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/uart_arch.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/settings.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/settings_arch.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/mcu_periph/adc_arch.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/servos_4017_hw.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/radio_control/ppm.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/arch/lpc21/subsystems/radio_control/ppm_arch.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/downlink.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/datalink/pprz_transport.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/datalink.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
firmwares/fixedwing/stabilization/stabilization_attitude.c:40:9: note:
#pragma message: CAUTION! ALL control gains have to be positive now!
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/firmwares/fixedwing/guidance/guidance_v.o
firmwares/fixedwing/guidance/guidance_v.c:112:9: note: #pragma
message: CAUTION! ALL control gains have to be positive now!
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps/gps_ubx.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/gps.o
CC /home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/nav.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/common_flight_plan.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/traffic_info.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_survey_rectangle.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/subsystems/navigation/nav_line.o
CC
/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o
modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodicGPS':
modules/ins/ins_arduimu_basic.c:134:3: error: 'i2c0' undeclared (first
use in this function)
modules/ins/ins_arduimu_basic.c:134:3: note: each undeclared
identifier is reported only once for each function it appears in
modules/ins/ins_arduimu_basic.c: In function 'ArduIMU_periodic':
modules/ins/ins_arduimu_basic.c:144:5: error: 'i2c0' undeclared (first
use in this function)
modules/ins/ins_arduimu_basic.c: At top level:
modules/ins/ins_arduimu_basic.c:210:6: warning: no previous prototype
for 'ahrs_update_gps' [-Wmissing-prototypes]
make[1]: ***
[/home/chris/src/paparazzi/var/blinken_arduimu/ap/modules/ins/ins_arduimu_basic.o]
Error 1
make[1]: Leaving directory `/home/chris/src/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/chris/src/paparazzi'
DONE (exec make -C /home/chris/src/paparazzi -f Makefile.ac
AIRCRAFT=blinken_arduimu ap.compile 2>&1)