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[Paparazzi-devel] YNT: adding a new telemetry message

From: Refik Sever
Subject: [Paparazzi-devel] YNT: adding a new telemetry message
Date: Fri, 23 Aug 2013 07:44:13 +0000
Hello,

I saw the problem. Beside a comma error, the second error was "ac_char_climb_count" is not defined as extern therefore it couldn't find it. Now I remove the ac_char_climb_count and I can get the rest of them.

Best regards,
Refik
Kimden: Refik Sever address@hidden adına paparazzi-devel-bounces+address@hidden [paparazzi-devel-bounces+address@hidden
Gönderildi: 23 Ağustos 2013 Cuma 10:22
Kime: address@hidden
Konu: Re: [Paparazzi-devel] adding a new telemetry message

Hi Christophe,

I don't want to change Ac characteristics in flight. I only want to observe them and see the real ac characteristics of the airplane.

Did I make a mistake while adding this telemetry? The steps I followed and the compile log is below.

Regards,
Refik

1. I added  following lines to conf/messages.xml

<message name="AC_CHAR" id="72">
     <field name="ac_char_climb_pitch" type="float" />
     <field name="ac_char_climb_max" type="float" />
     <field name="ac_char_climb_count" type="uint8" />
     <field name="ac_char_descend_pitch" type="float" />
     <field name="ac_char_descend_max" type="float" />
     <field name="ac_char_descend_count" type="uint8" />
     <field name="ac_char_cruise_throttle" type="float" />
     <field name="ac_char_cruise_pitch" type="float" />
     <field name="ac_char_cruise_count" type="uint8" />   
   </message>

2. I added these lines to telemetry.h :

#ifdef FW_V_CTL_ENERGY_H
#include "firmwares/fixedwing/guidance/energy_ctrl.h"
#define PERIODIC_SEND_AC_CHAR(_trans, _dev) DOWNLINK_SEND_AC_CHAR(_trans, _dev, \
    &ac_char_climb_pitch, \
    &ac_char_climb_max, \
    &ac_char_climb_count, \
    &ac_char_descend_pitch, \
    &ac_char_descend_max, \
    &ac_char_descend_count, \
    &ac_char_cruise_throttle, \
    &ac_char_cruise_pitch, \
    &ac_char_cruise_count \
    )
#else
#define PERIODIC_SEND_AC_CHAR(_trans, _dev) {}
#endif

3.  I added this line to telemetry xml file:
 <message name="AC_CHAR"             period="10."/>

4. I run make

Compile log:
 
RUN 'make -C /home/refik/MASTER_PAPARAZZI_130816/paparazzi -f Makefile.ac AIRCRAFT=Zagi_ref_1 PRINT_CONFIG=1 sim.compile '
make: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
Zagi_ref_1
BUILD Zagi_ref_1, TARGET sim
make[1]: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/airframe.h
##################################################
 AIRFRAME MODEL: Zagi_ref_1
##################################################
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/modules.h
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/periodic_telemetry.h
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/settings.h
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/autopilot_core.h
make[1]: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
make[1]: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h
##################################################
 RADIO MODEL: cockpitSX (easy)
##################################################
make[1]: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
make[1]: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Basic
##################################################

Warning: Waypoint '4' too far from HOME (636>600)


Warning: low altitude (28<28+25) in <waypoint NAME="TD" Y="-30.0" X="5.0" ALT="28"/>

GENERATE /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/flight_plan.xml
make[1]: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.1_devel-155-g3685c50-dirty
-----------------------------------------------------------------------
cd sw/airborne; make TARGET=sim ARCHI=sim ARCH=sim all
make[1]: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne'
DEPEND /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/.depend
make[1]: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne'
make[1]: Entering directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne'
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/mcu.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/arch/sim/mcu_arch.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/arch/sim/led_hw.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/mcu_periph/sys_time.o
mcu_periph/sys_time.c:33:1: note: #pragma message: Config: SYS_TIME_FREQUENCY = (2 * 60)
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/arch/sim/mcu_periph/sys_time_arch.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/./inter_mcu.o
In file included from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/subsystems/radio_control/ppm.h:38:0,
                 from subsystems/radio_control.h:33,
                 from inter_mcu.h:44,
                 from inter_mcu.c:23:
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:22:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:28:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: note: this is the location of the previous definition
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/math/pprz_geodetic_int.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/math/pprz_geodetic_float.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/math/pprz_geodetic_double.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/math/pprz_trig_int.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/math/pprz_orientation_conversion.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/mcu_periph/i2c.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/arch/sim/mcu_periph/i2c_arch.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/firmwares/fixedwing/main_fbw.o
In file included from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/subsystems/radio_control/ppm.h:38:0,
                 from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/subsystems/radio_control.h:33,
                 from firmwares/fixedwing/main_fbw.c:42:
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:22:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:28:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: note: this is the location of the previous definition
In file included from firmwares/fixedwing/main_fbw.c:43:0:
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/firmwares/fixedwing/autopilot.h:128:2: warning: #warning "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined." [-Wcpp]
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/subsystems/electrical.o
subsystems/electrical.c: In function 'electrical_init':
subsystems/electrical.c:61:1: note: #pragma message: Config: CURRENT_ESTIMATION_NONLINEARITY = 1.2
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/subsystems/commands.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/subsystems/actuators.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/firmwares/fixedwing/fbw_downlink.o
CC /home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/firmwares/fixedwing/main_ap.o
In file included from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/subsystems/radio_control/ppm.h:38:0,
                 from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/subsystems/radio_control.h:33,
                 from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/inter_mcu.h:44,
                 from /home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/link_mcu_spi.h:31,
                 from firmwares/fixedwing/main_ap.c:39:
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:22:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:24:0: note: this is the location of the previous definition
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:28:0: warning: "RADIO_UNUSED" redefined [enabled by default]
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/generated/radio.h:26:0: note: this is the location of the previous definition
In file included from firmwares/fixedwing/main_ap.c:62:0:
/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne/firmwares/fixedwing/autopilot.h:128:2: warning: #warning "CONTROL_RATE is deprecated. Please use CONTROL_FREQUENCY instead. Defaults to 60Hz if not defined." [-Wcpp]
firmwares/fixedwing/main_ap.c:101:1: note: #pragma message: Config: PERIODIC_FREQUENCY = 60
firmwares/fixedwing/main_ap.c:102:1: note: #pragma message: Config: NAVIGATION_FREQUENCY = 4
firmwares/fixedwing/main_ap.c:103:1: note: #pragma message: Config: CONTROL_FREQUENCY = 60
firmwares/fixedwing/main_ap.c:108:1: note: #pragma message: Config: TELEMETRY_FREQUENCY = 60
firmwares/fixedwing/main_ap.c:113:1: note: #pragma message: Config: MODULES_FREQUENCY = 60
firmwares/fixedwing/main_ap.c: In function 'reporting_task':
firmwares/fixedwing/main_ap.c:440:1: error: macro "DOWNLINK_SEND_AC_CHAR" passed 12 arguments, but takes just 11
firmwares/fixedwing/main_ap.c:440:1: error: 'DOWNLINK_SEND_AC_CHAR' undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:440:1: note: each undeclared identifier is reported only once for each function it appears in
make[1]: *** [/home/refik/MASTER_PAPARAZZI_130816/paparazzi/var/Zagi_ref_1/sim/firmwares/fixedwing/main_ap.o] Error 1
make[1]: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi/sw/airborne'
make: *** [sim.compile] Error 2
make: Leaving directory `/home/refik/MASTER_PAPARAZZI_130816/paparazzi'

FAILED 'make -C /home/refik/MASTER_PAPARAZZI_130816/paparazzi -f Makefile.ac AIRCRAFT=Zagi_ref_1 PRINT_CONFIG=1 sim.compile' with code 2


Kimden: Christophe De Wagter address@hidden adına paparazzi-devel-bounces+address@hidden [paparazzi-devel-bounces+address@hidden
Gönderildi: 23 Ağustos 2013 Cuma 10:04
Kime: paparazzi-devel
Konu: Re: [Paparazzi-devel] roll_trim

Ac characteristics are 100% passive downlink and setting them will not influence flight.

If you do several aggressive climbs and descends the ac characteristics will contain your average trim angles climb rates etc...

On Aug 22, 2013 2:20 PM, "Refik Sever" <address@hidden> wrote
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