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Re: [Paparazzi-devel] Spektrum in Fixed Wings

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Spektrum in Fixed Wings
Date: Wed, 1 Dec 2010 08:01:19 +0100
can you do a command prompt compile in your paparazzi directory to get the full error:

make AIRCRAFT=Microjet clean_ac ap.compile

or even

make AIRCRAFT=Microjet clean_ac ap.compile Q=''

to see more compile information.


-Christophe 



On Wed, Dec 1, 2010 at 2:48 AM, Adam Spence <address@hidden> wrote:
Hey guys,
 
I've just switched over to using module and was happy to see that it was easier to switch between ppm and spektrum for the radio_type. Unfortunately I've tried spektrum in a non booz build and it would appear this is still very much set up for booz.
 
In order to proceed with the build I modified the radio_control_spektrum.makefile to remove the check for booz and always include the line: ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
 
This results in the following build:
 
Run 'make -C /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software -f Makefile.ac AIRCRAFT=Microjet clean_ac '
make: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Microjet
rm -fr /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet
make: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Run 'make -C /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software -f Makefile.ac AIRCRAFT=Microjet ap.compile '
make: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
Microjet
BUILD Microjet, TARGET ap
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/airframe.h
##################################################
 AIRFRAME MODEL: Microjet
##################################################
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/modules.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/settings.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/tuning.h
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/periodic.h
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/radio.h
##################################################
 RADIO MODEL: cockpitMM
##################################################
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/flight_plan.h
##################################################
 FLIGHT PLAN: Basic
##################################################
Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="57.0" X="28.8" ALT="0.0"/>
BUILD /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/flight_plan.xml
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software'
cd sw/airborne; make PAPARAZZI_SRC=/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software PAPARAZZI_HOME=/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software TARGET=ap all
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
DEPEND /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/.depend
make[1]: Leaving directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
make[1]: Entering directory `/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/sw/airborne'
AS /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/crt0.o
CC /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/sys_time.o
CC /media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/var/Microjet/ap/./inter_mcu.o
In file included from ./subsystems/radio_control/spektrum.h:31,
                 from subsystems/radio_control.h:35,
                 from inter_mcu.h:44,
                 from inter_mcu.c:25:
/media/B836-EC76/Documents/Personal/RC/ppz/paparazzi-software/s
The output appears to be truncated and I can't see a sensible error.
 
The airframe file I am using is as follows:
 
<!DOCTYPE airframe SYSTEM "airframe.dtd">
 
<!-- EasyGlider Multiplex (http://www.multiplex-rc.de/)
     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
     XBee modem (http://paparazzi.enac.fr/wiki/index.php/Modems#Maxstream_XBee_Pro) in transparent mode.
-->
 
<airframe name="EasyGlider Tiny 2.1">
<!-- commands section -->
  <servos>
 
    <servo name="AILERON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
    <servo name="ELEVATOR"      no="2" min="2000" neutral="1500" max="1000"/>
    <servo name="THROTTLE"      no="3" min="1000" neutral="1000" max="2000"/>
    <servo name="RUDDER"        no="7" min="1000" neutral="1500" max="2000"/>
    <servo name="AILERON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
 
  </servos>
  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
    <axis name="YAW"      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"/>
  </rc_commands>
 
  <section name="MIXER">
     <define name="AILERON_DIFF" value="0.66"/>
     <define name="COMBI_SWITCH" value="0.5"/>
  </section>
 
  <command_laws>
    <set servo="THROTTLE"    value="@THROTTLE"/>
    <set servo="ELEVATOR"    value="@PITCH"/>
    <set servo="RUDDER"      value="@YAW + @ROLL*COMBI_SWITCH"/>
 
    <let var="roll" value="@ROLL"/>
    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
  </command_laws>
 
 
  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.80"/>
    <define name="MAX_PITCH" value="0.80"/>
  </section>
 
  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_1"/>
    <define name="IR2" value="ADC_2"/>
    <define name="IR_TOP" value="ADC_0"/>
    <define name="IR_NB_SAMPLES" value="16"/>
 
<!-- 
  <define name="GYRO_ROLL" value="ADC_3"/>
    <define name="GYRO_NB_SAMPLES" value="16"/>
-->
  </section>
 
  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="514"/>
    <define name="ADC_IR2_NEUTRAL" value="513"/>
    <define name="ADC_TOP_NEUTRAL" value="516"/>
 
    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1."/>
<!--
    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-->
    <define name="HORIZ_SENSOR_ALIGNED" value="1"/>
    <define name="IR2_SIGN" value="1"/>
    <define name="TOP_SIGN" value="1"/>
 
    <define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
 
    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>
  </section>
 
<!--
<section name="GYRO" prefix="GYRO_">
    <define name="ADC_ROLL_NEUTRAL" value="520"/>
    <define name="ADC_TEMP_NEUTRAL" value="476"/>  
    <define name="ADC_TEMP_SLOPE" value="0"/> 
    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
    <define name="ROLL_DIRECTION" value="-1."/>
  </section>
-->
 
  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="15000" unit="mA"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>
 
  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
    <define name="CARROT" value="3." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
<!--
    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-->
    <define name="NO_XBEE_API_INIT" value="TRUE"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
    <define name="MIN_CIRCLE_RADIUS" value="50."/>
  </section>
 
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="-0.04"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5"/>
 
    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
 
   <define name="THROTTLE_SLEW" value="0.5"/>
 
  </section>
 
  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-0.8"/>
 
    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
    <define name="PITCH_PGAIN" value="-10000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
 
    <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
    <define name="ROLL_RATE_GAIN" value="-1500"/>
  </section>
 
  <section name="NAV">
    <define name="NAV_PITCH" value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
  </section>
 
  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="15"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
    <define name="GYRO_MAX_RATE" value="200."/>
    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
    <define name="ALT_ROLL__PGAIN" value="1.0"/>
    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
    <define name="ROLL_RATE_IGAIN" value="0.0"/>
    <define name="ROLL_RATE_DGAIN" value="0.0"/>
  </section>
-->
 
  <section name="FAILSAFE" prefix="FAILSAFE_">
 <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 <define name="HOME_RADIUS" value="70" unit="m"/>
</section>
 
 <section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="XBEE"/>
    <define name="DEVICE_ADDRESS" value="...."/>
  </section>
 
 <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
 </section>
 
  <firmware name="fixedwing">
    <target name="sim"    board="pc"/>
    <target name="ap"    board="tiny_2.11">
      <define name="AGR_CLIMB" />
      <define name="LOITER_TRIM" />
      <define name="ALT_KALMAN" />
    </target>
    <subsystem name="radio_control"  type="spektrum"/>
    <!-- Communication -->
    <subsystem name="telemetry"  type="transparent">
      <param name="MODEM_BAUD"   value="B9600"/>
    </subsystem>
    <!-- Actuators are automatically chosen according to the board-->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="attitude"   type="infrared"/>
    <subsystem name="gps"   type="ublox_lea4p"/>
    <subsystem name="navigation"        type="extra"/><!--this includes OSAMNav, nav, discsurvey and nav_cube as well-->
  </firmware>
  <!-- Carefull: add the location after!! -->
  <makefile location="after">
    # specific stuff that only you are needing... be aware that files might move, so USE the firmware-source variable
  </makefile>
</airframe>
This compiles if I change the <subsystem name="radio_control"  type="spektrum"/> to <subsystem name="radio_control"  type="ppm"/> but not when set to spektrum.
 
I'm trying to get over this stumbling block before I move onto enabling the SPI (I'm using an external SPI to UART convertor). Any help or advice would be greatly appreciated.
 
Cheers,
 
Adam

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