Hello,
Sadly i can not build the code, i get the
failure: main_ap.c:236:error: "RADIO_GAIN1" undeclared (first use
in this function)
After deleting
<set command="CAM_PAN"
value="@YAW"/>
<set command="CAM_TILT"
value="@GAIN1"/>
in <auto_rc_commands>the failure
disappears but the building in the paparazzi center stops here:
CC
/home/administrator/work/paparazzi3/var/Twinstar/ap/arm7/adc_hw.o
LD
/home/administrator/work/paparazzi3/var/Twinstar/ap/ap.elf
/home/administrator/work/paparazzi3/var/Twinstar/ap/main_ap.o:
In function `navigation_task':
main_ap.c:(.text.navigation_task+0
If anyone
has a airframe file with running POI tracking it would help me much to find
the failure in my code any set it up properly.
Regards,
Joseph
PS: Here is
the airframe-file:
<!-- Twinstar II, Roxxy,YGE Regler, 3s
2500-->
−
<airframe name="Twinstar_IS">
<!-- commands
section, Tuned -->
−
<servos>
<servo name="AILERON_LEFT"
no="2" min="1100" neutral="1500" max="1900"/>
<servo name="THROTTLE"
no="0" min="1050" neutral="1050" max="1900"/>
<servo name="ELEVATOR"
no="4" min="1150" neutral="1500" max="1900"/>
<servo name="RUDDER"
no="3" min="1900" neutral="1500" max="1100"/>
<servo
name="AILERON_RIGHT" no="2" min="1200" neutral="1490"
max="1800"/>
<servo name="CAM_PAN" no="6" min="2000" neutral="1550"
max="1000"/>
<servo name="CAM_TILT" no="7" min="1000" neutral="1550"
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"/>
<axis name="CAM_TILT"
failsafe_value="0"/>
<axis name="CAM_PAN"
failsafe_value="0"/>
</commands>
−
<rc_commands>
<set
command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL"
value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set
command="YAW"
value="@YAW"/>
</rc_commands>
−
<auto_rc_commands>
<set
command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL"
value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set
command="YAW" value="@YAW"/>
<set command="CAM_PAN"
value="@YAW"/>
<set command="CAM_TILT"
value="@GAIN1"/>
</auto_rc_commands>
−
<section
name="MIXER">
<define name="AILERON_DIFF"
value="0.7"/>
<define name="COMBI_SWITCH"
value="1.0"/>
</section>
−
<command_laws>
<set
servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR"
value="@PITCH"/>
<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"/>
<set servo="RUDDER" value="@YAW +
@ROLL*COMBI_SWITCH"/>
<set servo="CAM_PAN"
value="@CAM_PAN"/>
<set servo="CAM_TILT"
value="@CAM_TILT"/>
</command_laws>
−
<section name="CAM"
prefix="CAM_">
<define name="TILT_MAX" value="30"
unit="deg"/>
<define name="TILT_NEUTRAL" value="0"
unit="deg"/>
<define name="TILT_MIN" value="-30"
unit="deg"/>
<define name="TILT0" value="0"
unit="deg"/>
<define name="PAN_MAX" value="45"
unit="deg"/>
<define name="PAN_NEUTRAL" value="0"
unit="deg"/>
<define name="PAN_MIN" value="-45"
unit="deg"/>
<define name="PAN0" value="0"
unit="deg"/>
</section>
−
<section name="AUTO1"
prefix="AUTO1_">
<define name="MAX_ROLL"
value="0.9"/>
<define name="MAX_PITCH"
value="0.6"/>
</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"/>
</section>
<!-- IR neutrals and correction,
Tuned -->
−
<section name="INFRARED"
prefix="IR_">
<define name="ADC_IR1_NEUTRAL"
value="513"/>
<define name="ADC_IR2_NEUTRAL"
value="514"/>
<define name="ADC_TOP_NEUTRAL"
value="512"/>
<define name="LATERAL_CORRECTION"
value="1"/>
<define name="LONGITUDINAL_CORRECTION"
value="1"/>
<define name="VERTICAL_CORRECTION"
value="-1"/>
<define name="CORRECTION_UP"
value="1."/>
<define name="CORRECTION_DOWN"
value="1."/>
<define name="CORRECTION_LEFT"
value="1."/>
<define name="CORRECTION_RIGHT"
value="1."/>
<define name="HORIZ_SENSOR_TILTED"
value="1"/>
<define name="IR1_SIGN" value="1"/>
<define
name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN"
value="-1"/>
<define name="ROLL_NEUTRAL_DEFAULT"
value="-1.99985194206" unit="deg"/>
<define
name="PITCH_NEUTRAL_DEFAULT" value="-17.1887340546"
unit="deg"/>
</section>
−
<section
name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE"
value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3"
unit="V"/>
<define name="VoltageOfAdc(adc)"
value="(0.02454*adc)"/>
</section>
−
<section
name="MISC">
<define name="MINIMUM_AIRSPEED" value="7."
unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="10."
unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="18."
unit="m/s"/>
<define name="CARROT" value="5."
unit="s"/>
<define name="KILL_MODE_DISTANCE"
value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE"
value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED"
value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS"
value="80."/>
<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="-0.06"/>
<!-- outer
loop saturation -->
<define name="ALTITUDE_MAX_CLIMB"
value="2."/>
<!-- auto throttle inner loop -->
<define
name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
<define
name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define
name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.95"/>
<define
name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define
name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define
name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN"
value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN"
value="0.2"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"
value="0.25"/>
<define name="THROTTLE_SLEW_LIMITER" value="2"
unit="s"/>
<!-- auto pitch inner loop -->
<define
name="AUTO_PITCH_PGAIN" value="-0.15"/>
<define
name="AUTO_PITCH_IGAIN" value="0.0"/>
<define
name="AUTO_PITCH_MAX_PITCH" value="0.25"/>
<define
name="AUTO_PITCH_MIN_PITCH"
value="-0.25"/>
</section>
−
<section name="HORIZONTAL
CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN"
value="-2.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.7"
unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.7"
unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4"
unit="radians"/>
<define name="PITCH_PGAIN"
value="-3000"/>
<define name="PITCH_DGAIN"
value="1.5"/>
<define name="ELEVATOR_OF_ROLL"
value="1250"/>
<define name="ROLL_SLEW"
value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN"
value="-7000"/>
<define name="ROLL_RATE_GAIN"
value="-500"/>
</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="50"/>
−
<!--
Altitude Error to Initiate Aggressive
Climb CANNOT BE ZERO!!
-->
<define name="BLEND_END"
value="15"/>
−
<!--
Altitude Error to Blend Aggressive to
Regular Climb Modes CANNOT BE ZERO!!
-->
<define
name="CLIMB_THROTTLE" value="1."/>
<!-- Gaz for Aggressive Climb
-->
<define name="CLIMB_PITCH" value="0.5"/>
<!-- Pitch for
Aggressive Climb -->
<define name="DESCENT_THROTTLE"
value="0.05"/>
<!-- Gaz for Aggressive Decent -->
<define
name="DESCENT_PITCH" value="-0.25"/>
<!-- 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="FAILSAFE"
prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2"
unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3"
unit="%"/>
<define name="DEFAULT_ROLL" value="0.17"
unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08"
unit="rad"/>
<define name="HOME_RADIUS" value="100"
unit="m"/>
</section>
−
<makefile>
CONFIG = "tiny_2_1.h"
include
$(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-DPOINT_CAM_PITCH_ROLL
ap.srcs += cam.c point.c
traffic_info.c
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG)
-DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS="servos_4017_hw.h"
-DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c
actuators.c
ap.CFLAGS += -DRADIO_CONTROL
-DRADIO_CONTROL_AUTO1
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#XBEE
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1
-DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE
-DUART1_BAUD=B57600
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
xbee.c
#TRANSPARENT
ap.CFLAGS += -DDOWNLINK -DUSE_UART1
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1
-DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ
-DUART1_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0
-DUART0_BAUD=B38400 -DGPS_USE_LATLONG
ap.srcs += gps_ubx.c gps.c
latlong.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO
-DWIND_INFO_RET
ap.srcs += infrared.c
estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs +=
nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c
ap.srcs +=
nav_survey_rectangle.c
ap.srcs += bomb.c
ap.srcs += snav.c
# Config for SITL simulation
# include
$(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR =
$(ARCHI)
sim.ARCH = sitl
sim.TARGET = autopilot
sim.TARGETDIR =
autopilot
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU
-DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED
-DWIND_INFO
sim.srcs = latlong.c radio_control.c downlink.c commands.c
gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c
sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c
$(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c
$(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
$(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-DPOINT_CAM_PITCH_ROLL
sim.srcs += cam.c point.c
traffic_info.c
sim.CFLAGS += -DBOARD_CONFIG="tiny.h" -DAGR_CLIMB
-DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c
nav_survey_rectangle.c
sim.srcs += bomb.c
</makefile>
</airframe>
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