Hi Franck,
Franck Marchand schrieb:
Hello,
I am trying to plug a MTI IMU on a TWOG for a fixed wing aircraft. The MTI
is plug on the Uart0 and I am trying to use the module "INS_XSENS" as
explain on the wiki.
The module ins_xsens.xml seems to be incomplete, I use
ins_xsens_MTiG_Uart0.xml instead which works fine.
I hope you are using a level converter (MAX232 or the like), I fried my
Uarts by not using one.
After the configuration of my airframe, I've got the
following message when I built:
...
/home/franck/paparazzi3/sw/airborne/modules/ins/ins_xsens.c:140: warning:
nested extern declaration of `INS_LINKTransmit'
[...]
ins_xsens.c:(.text+0x50): undefined reference to `INS_LINKTransmit'
ins_xsens.c:(.text+0x5c): undefined reference to `INS_LINKTransmit'
This seems to be caused by INS_LINK not being defined. In the module xml
file should be a line like
<flag name="INS_LINK" value="Uart0" />
which is in ins_xsens_MTiG_Uart0.xml but not in ins_xsens.xml.
Btw, if you have an MTi-G and want to use its GPS, you'll have to add
something like
<file name="../../gps_xsens.c />
to the module xml and the following code to main_ap.c in the event task
below the corresponding GPS code:
#ifdef USE_GPS_XSENS
#ifndef HITL /* else comes through the datalink */
if (InsBuffer()) {
ReadInsBuffer();
}
#endif
if (ins_msg_received) {
parse_ins_msg();
ins_msg_received = FALSE;
#ifdef ALT_KALMAN
EstimatorSetAlt(ins_z);
#endif
if (gps_pos_available) {
gps_verbose_downlink = !launch;
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
gps_pos_available = FALSE;
}
}
#endif // USE_GPS_XSENS
HTH.
Regards,
Andreas
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