Re: [Paparazzi-devel] Cam controls fixed wing errors

[Felix Ruess]

Hi Uttam,

If you write unit="deg" it will be automatically converted to radians (and hence the floating point error).

Either remove the unit, or specify code_unit="deg" as well.

Also see http://paparazzi.enac.fr/wiki/Units

Cheers, Felix

On Fri, Feb 1, 2013 at 4:52 AM, Uttam Chandrashekhar <address@hidden> wrote:

Hi guys,

I've been having problems getting cam controls to work. I'm currently on the V4.0 branch. Here is what a compile says:

modules/cam_control/cam.c:51:6: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:51:21: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:52:2: error: #error CAM_PAN_MAX has to be different from CAM_PAN_NEUTRAL
modules/cam_control/cam.c:54:6: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:54:25: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:55:2: error: #error CAM_PAN_MIN has to be different from CAM_PAN_NEUTRAL
modules/cam_control/cam.c:61:7: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:61:25: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:62:2: error: #error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL
modules/cam_control/cam.c:64:6: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:64:26: error: floating constant in preprocessor _expression_
modules/cam_control/cam.c:65:2: error: #error CAM_TILT_MIN has to be different from CAM_TILT_NEUTRAL
make[1]: *** [/home/uttam/paparazzi/paparazzi/var/CARS/ap/modules/cam_control/cam.o] Error 1
make[1]: Leaving directory `/home/uttam/paparazzi/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/uttam/paparazzi/paparazzi'

----------------------------

My airframe file has the cam section defined like this:

<section name="CAM" prefix="CAM_">
    <define name="TILT_MAX" value="60" unit="deg"/>
    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
    <define name="TILT_MIN" value="-60" unit="deg"/>
    <define name="TILT0" value="0" unit="deg"/>

    <define name="PAN_MAX" value="180" unit="deg"/>
    <define name="PAN_NEUTRAL" value="0" unit="deg"/>
    <define name="PAN_MIN" value="-180" unit="deg"/>
    <define name="PAN0" value="0" unit="deg"/>
  </section>

<modules>
 <load name="cam_point.xml"/>
<load name="digital_cam.xml"/>
</modules>

--------------------------------------------

Does this have to do with the FIXME comments and angles now needing to be specified in radians?

-Thanks

Uttam

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