[Paparazzi-devel] Parrot bebop joystick control

[sven4all]

Hi all,

We are trying to control a parrot bebop with a joystick. We followed the
following guides https://wiki.paparazziuav.org/wiki/Bebop and
https://wiki.paparazziuav.org/wiki/Joystick, and everything works well,
until we try to use the joystick.xml instead of the basic-rotorcraft.xml
(see the logging below this mail). Do we need to write a custom flightplan
to control a rotorcraft by joystick or are we doing something else wrong?

Thanks in advance!

Best regards,

Bernd, Matthijs, Sven

RUN 'make -C /home/matthijs/paparazzi -f Makefile.ac AIRCRAFT=bebop
PRINT_CONFIG=1 ap.compile '
make: Entering directory `/home/matthijs/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.5_devel-363-ged5223e
-----------------------------------------------------------------------
#######################################
# BUILD AIRCRAFT=bebop, TARGET ap
#######################################
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/airframe.h from
airframes/bebop.xml
GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/modules.h
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/periodic_telemetry.h
from telemetry/default_rotorcraft.xml
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/settings.h
GENERATE autopilots in
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/
make[1]: Leaving directory `/home/matthijs/paparazzi'
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/radio.h
from radios/cockpitSX.xml
make[1]: Leaving directory `/home/matthijs/paparazzi'
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h from
flight_plans/joystick.xml

Warning: low altitude (0<0+25) in <waypoint Y="57.0" X="28.8" NAME="TD"
ALT="0.0"/>

GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/flight_plan.xml from
flight_plans/joystick.xml
make[1]: Leaving directory `/home/matthijs/paparazzi'
cd sw/airborne; make -j8 TARGET=ap all
make[1]: Entering directory `/home/matthijs/paparazzi/sw/airborne'

Using CC   = arm-linux-gnueabi-gcc
GCC version:
arm-linux-gnueabi-gcc (Ubuntu/Linaro 4.7.3-12ubuntu1) 4.7.3

CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/boards/bebop/video.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/mcu.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/mcu_arch.o
arch/linux/mcu_arch.c:34:1: note: #pragma message: Config: Catching SIGINT.
Press CTRL-C twice to stop program.
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/mcu_periph/sys_time.o
mcu_periph/sys_time.c:33:1: note: #pragma message: Config:
SYS_TIME_FREQUENCY = (2 * 512)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/mcu_periph/sys_time_arch.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_int.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_float.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_double.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_trig_int.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_orientation_conversion.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_int.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_float.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_double.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/settings.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/subsystems/settings_arch.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/actuators.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/commands.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/state.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/peripherals/ms5611.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/peripherals/ms5611_i2c.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/boards/baro_board_ms5611_i2c.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization/stabilization_none.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization/stabilization_rate.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_h.o
firmwares/rotorcraft/guidance/guidance_h.c:66:1: note: #pragma message:
Config: GUIDANCE_H_USE_REF = (!0)
firmwares/rotorcraft/guidance/guidance_h.c:67:1: note: #pragma message:
Config: GUIDANCE_H_USE_SPEED_REF = (!0)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_h_ref.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v.o
firmwares/rotorcraft/guidance/guidance_v.c:62:1: note: #pragma message:
Config: GUIDANCE_V_NOMINAL_HOVER_THROTTLE = 0.655
firmwares/rotorcraft/guidance/guidance_v.c:63:1: note: #pragma message:
Config: GUIDANCE_V_ADAPT_THROTTLE_ENABLED = (!0)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v_ref.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v_adapt.o
firmwares/rotorcraft/guidance/guidance_v_adapt.c:45:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE = 0.3
firmwares/rotorcraft/guidance/guidance_v_adapt.c:54:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE = 0.2
firmwares/rotorcraft/guidance/guidance_v_adapt.c:63:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE = 0.75
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/navigation.o
In file included from firmwares/rotorcraft/navigation.c:40:0:
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h: In
function 'auto_nav':
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:242:9:
warning: implicit declaration of function 'nav_eight_init'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:242:9:
warning: nested extern declaration of 'nav_eight_init' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:247:9:
warning: implicit declaration of function 'Eight'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:247:9:
warning: nested extern declaration of 'Eight' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:261:9:
warning: implicit declaration of function 'nav_oval_init'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:261:9:
warning: nested extern declaration of 'nav_oval_init' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:266:9:
warning: implicit declaration of function 'Oval'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:266:9:
warning: nested extern declaration of 'Oval' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:286:22:
error: 'DEFAULT_CIRCLE_RADIUS' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:286:22:
note: each undeclared identifier is reported only once for each function it
appears in
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:306:9:
warning: implicit declaration of function 'nav_line_setup'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:306:9:
warning: nested extern declaration of 'nav_line_setup' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:312:9:
warning: implicit declaration of function 'nav_line_run'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:312:9:
warning: nested extern declaration of 'nav_line_run' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:9:
warning: implicit declaration of function 'NavSurveyRectangleInit'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:9:
warning: nested extern declaration of 'NavSurveyRectangleInit'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:43:
error: 'NS' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:332:9:
warning: implicit declaration of function 'NavSurveyRectangle'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:332:9:
warning: nested extern declaration of 'NavSurveyRectangle'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:346:9:
error: 'lateral_mode' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:346:24:
error: 'LATERAL_MODE_ROLL' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:349:9:
error: 'v_ctl_mode' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:349:22:
error: 'V_CTL_MODE_MANUAL' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:406:9:
warning: implicit declaration of function 'nav_compute_baseleg'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:406:9:
warning: nested extern declaration of 'nav_compute_baseleg'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:421:91:
error: expected ')' before '&&' token
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:421:13:
error: void value not ignored as it ought to be
make[1]: ***
[/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/navigation.o]
Error 1
make[1]: Leaving directory `/home/matthijs/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/matthijs/paparazzi'

FAILED 'make -C /home/matthijs/paparazzi -f Makefile.ac AIRCRAFT=bebop
PRINT_CONFIG=1 ap.compile' with code 2




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