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Re: [Paparazzi-devel] Problems with Simulation

From: Jorge Pantoja
Subject: Re: [Paparazzi-devel] Problems with Simulation
Date: Thu, 28 Jun 2012 00:17:22 -0400
Hi Felix,

Thank you for your help. I will you know how it goes.

If the problem persists I will just uninstall everything and reinstall the whole software and see how it goes. I will check with other computers and Ubuntu versions.

On the other hand, please check the video of the link below and learn about what will be the final application of the Paparazzi Autopilot. All the help that you can give us will be deeply appreciated. PPZUAV has been helping us by donating some hardware.

http://www.youtube.com/watch?v=yxZtMkUfcnw

The current status of our autopilot is the following:

- We have successfully integrated the Yapa 2, CHIMU, Ublox GPS, 900 MHz Xbees and the 8 Channel PPM Encoder.
- Our Autopilot communicates with no problem with the ground station meaning that we have an stable telemetry link.

We are a few steps away from going into flight test (simulation first). The first mission we would like to accomplish consists on a manual conventional take off and landing, switch to Auto2 mode on the air and make the airplane go to a waypoint and have it make circles and then come back. How would be the best way to program this in the autopilot? I guess should just leave out the take off and landing blocks from the flight plan and program the rest right? However, we will go for automatic Take off and Landing after completing the first tests.

Best Regards,
Jorge

On Wed, Jun 27, 2012 at 7:10 PM, Felix Ruess <address@hidden> wrote:
conf/messages.xml
You can list the locally modified files with "git status".
But if that is all fine, I have no idea what the issue is... never encountered that error before...


On Thu, Jun 28, 2012 at 1:05 AM, Jorge Pantoja <address@hidden> wrote:
Hi Felix,

Here is what I did on the paparazzi directory from the terminal:

make clean
make

And I haven't changed anything on the messages.xml file. Where can I find this file and how should it look like?

Regards,
Jorge


On Wed, Jun 27, 2012 at 6:01 PM, Felix Ruess <address@hidden> wrote:
Hi Jorge,

did you run make (clean) as well after updating to the latest version?
You have a dirty tree, did you change anything in messages.xml?
Sounds like a message was not found...

FlightGear 2.6 runs fine here, there should be no reason to go back to 2.4...

Cheers, Felix


On Wed, Jun 27, 2012 at 11:19 PM, Jorge Pantoja <address@hidden> wrote:
Hi Felix,

Thank you for your response again.

When I typed ./paparazzi_git_version on the paparazzi folder in the terminal it says bash: ./paparazzi_git_version: No such file or directory. So I guess that I was using an older Paparazzi version. I updated to the latest version using the Git directions: v3.9.2_testing-4-g52d648f-dirty

I compiled the latest Paparazzi version (v.3.9.2) but this didn't solve the problem. I got the following error messages:


Error fg: Connection refused (send())
Callback Message id=21 not found!!!'

I am thinking on installing everything from scratch (FG and Paparazzi), what do you think? Would you recommend using an older version of Flight Gear like 2.4 instead of 2.6?

Best Regards,
Jorge




On Wed, Jun 27, 2012 at 4:00 PM, Felix Ruess <address@hidden> wrote:
Hi Jorge,

the warnings from flight gear you can ignore... it is just complaining that it can't open the audio device via ALSA and can't find a jack audio server....
Also this has nothing to do with the Paparazzi side...

But what Paparazzi version are you running? Since FG 2.6 support was only added recently in v3.9.1

Cheers, Felix


On Wed, Jun 27, 2012 at 9:48 PM, Jorge Pantoja <address@hidden> wrote:
Hello Felix,

Thank you for your help, but I still have the same problem. And yes, I did not type the dots and stuff, the whole line written on the simulator in my case is:

/home/jpantoja/paparazzi/sw/simulator/launchsitl -a Microjet -fg 127.0.0.1 -boot -norc

Here are some other error lines that appear on the Terminal when I run FG 2.6 using the command fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

ALSA lib pcm_dmix.c:1018:(snd_pcm_dmix_open) unable to open slave

Cannot connect to server socket err = No such file or directory
Cannot connect to server socket
jack server is not running or cannot be started

I am starting to think that this could be something in particular with my computer. I am using Ubuntu 11.10 and FG 2.6. Any other ideas?

Best Regards,
Jorge



On Wed, Jun 27, 2012 at 3:11 PM, Felix Ruess <address@hidden> wrote:
Hi Jorge,

Just checked again, it works just as expected on Ubuntu 12.04 with fg 2.6....
You just added the option "-fg 127.0.0.1" to the simulator line and restarted it (and not typed in the dots and stuff...)?

Cheers, Felix

On Wed, Jun 27, 2012 at 6:57 AM, Jorge Pantoja <address@hidden> wrote:
Hello Felix and Stephen,

Thank you for your responses, but unfortunately I am still having the same problem. Here is what I am doing and in the order that I am doing it:

1) Launch Flight Gear 2.6.0 with the command: --fdm=null --native-gui=socket,in,30,,5501,udp
2) Open the Paparazzi Center and choose the Microject. Target SIM and Session Simulation.
3) Clean, Build
4) Execute
5) Stop the Simulator line and type ...paparazzi/sw/simulator/launchsitl -a Microjet -fg 127.0.0.1 -boot -norc (I also tried including the actual IP address of this computer but no luck)
6) Redo the Simulator

Please let me know your thoughts, this is supposed to be very simple but for some reason I am having this problem. Perhaps I need to change something on the Flight Gear folder in the Paparazzi?

Best Regards,
Jorge

On Tue, Jun 26, 2012 at 6:23 PM, Felix Ruess <address@hidden> wrote:
Hi Jorge,

to implement sim for ins_chimu you can have a look at the ins_arduimu_basic module. You basically need to provide a shell similar to sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
that feeds the values from the ocaml interface sw/airborne/arch/sim/sim_ahrs.[ch] to the estimator.

Cheers, Felix


On Wed, Jun 27, 2012 at 12:15 AM, Stephen Dwyer <address@hidden> wrote:
Hey Jorge,

I think this FG error arises when you try to send flight gear messages from the simulator, but don't have flight gear set to receive them.

Are you starting FlightGear with the right options? Typically:
--fdm=null --native-gui=socket,in,30,,5501,udp


Hope that helps.

Thanks,
-Stephen Dwyer


On Tue, Jun 26, 2012 at 2:35 PM, Jorge Pantoja <address@hidden> wrote:
Hi Feliz,

Thank you for your reply.

I was using my computer's IP address which is 172.21.3.91. However, I just tried using the IP you gave me 127.0.0.1 and running a simple simulation with the Microjet and FG on the same computer with no luck. I got the same error message:

Error fg: Connection refused (send())

I wonder if I am not following the steps correctly.

Also I will try to run the simulation for my aircraft using another IMU as you suggest. Nevertheless, If I would like to implement this module for the sim, how can I do it?

Best Regards,
Jorge



On Tue, Jun 26, 2012 at 3:28 PM, Felix Ruess <address@hidden> wrote:
Hi Jorge,

which IP address did you use? If you run FlightGear on the same computer just use 127.0.0.1

Regarding the error for the CHimu module: it is not implemented for the sim. I fixed the module so it will only be included for the ap target.
Until someone writes a sim implementation for it you can just add some other imu and ahrs to the sim target:
<target name="sim" board="pc">
  <subsystem name="imu" type="aspirin_v1.5"/>
  <subsystem name="ahrs" type="float_dcm"/>
</target>

Cheers, Felix

On Tue, Jun 26, 2012 at 5:45 PM, Jorge Pantoja <address@hidden> wrote:
Dear everyone,

I am having some trouble running a SITL simulation with Flight Gear. I downloaded the latest version of Flight Gear 2.6.0-1 from Getdeb and followed the instructions on the wiki to link Flight Gear to the Paparazzi Center. I added my computer's IP address to the Simulator line and ran the process with it but I am getting the following error on the Paparazzi Center:

Error fg: Connection refused (send())

Also when I run the process from the Terminal I get the following error:

Cannot connect to server socket err = No such file or directory
jack server is not running or cannot be started

I thought this could be a problem with the university's firewall so I tried to run the simulation at home and I got the same results. When I start Flight Gear by itself it runs smoothly the same as the Paparazzi Center but when I run them together the Paparazzi Center seems to freeze. I managed to run the simulations some time ago when I first started using Paparazzi on Ubuntu 11.04 (natty) so I am sure that I am following the wiki steps correctly.

Right now I am using Ubuntu 11.10 (32 Bit) on a Core i7 DELL XPS15 with 6Gb of Ram.

Also when I try to run a simulation using my airframe file I get the following error:

modules/ins/ins_chimu_spi.c:10:42: fatal error: mcu_periph/spi_slave_hs_arch.h: No such file or directory
compilation terminated.
make[1]: *** [/home/jpantoja/paparazzi/var/Piquero/sim/modules/ins/ins_chimu_spi.o] Error 1

We have successfully integrated the CHIMU, Yapa2, PPM Encoder and Ublox GPS on the hardware side, but now we are trying to run some simulations before going into actual flight.

If you can help us solving this problems it will be deeply appreciated.

Best Regards,
--
Jorge Pantoja
Autopilot Team
 


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Program Manager/Liaison
 


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Jorge Pantoja
Program Manager/Liaison
 


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--
Jorge Pantoja
Program Manager/Liaison
 


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--
Jorge Pantoja
Program Manager/Liaison
Phone: +593-96160076
e-mail: address@hidden
 

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