Re: [Paparazzi-devel] Baro settings for Krooz

On Fri, Dec 20, 2013 at 4:32 PM, Jorn Anke <address@hidden> wrote:

Hi Felix, thanks for helping again,

The <define name="USE_HIGH_ACCEL_FLAG"/> was from the krooz_sd_fw.xml in the /paparazzi/conf/airframes/examples/krooz_sd/fixedwing folder, which I used as a model for my own airframe file.

Cheers, Jorn
(not Jorge ;-)

Date: Thu, 19 Dec 2013 23:12:38 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Baro settings for Krooz

Hi Jorge,

I thought so, but was just confused that you installed it in the location of the old arm-multilib toolchain...

If you tick the "print config at build time" box you can see the different frequencies that are used.

As already said you should set them properly (imu_krooz makes them default to 512Hz) and since imu_periodic runs at PERODIC_FREQUENCY you should set that accordingly.

So probably (at least) something like:

<configure name = "PERIODIC_FREQUENCY" value = "120"/>
<configure name = "AHRS_PROPAGATE_FREQUENCY" value = "120"/>
<configure name = "AHRS_CORRECT_FREQUENCY" value = "120"/>

Also:
- <define name="USE_HIGH_ACCEL_FLAG"/> is useless (only used in ins_arduimu_basic), how did you come to add that?

Cheers, Felix

On Thu, Dec 19, 2013 at 10:46 PM, Jorn Anke <address@hidden> wrote:

Thank you for the reply Felix,

Yes, I removed the paparazzi-arm-mutilib and installed arm-none-eabi-gcc instead, to: gcc-arm-embedded to /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc

The airframe-file I am working on is attached, if you would like to have a look.

Cheers, Jorn

Date: Thu, 19 Dec 2013 21:18:26 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Baro settings for Krooz

Hi Jorn,

on krooz_sd the ms5611 baro is connected via I2C and you can remove <configure name = "KROOZ_BARO" value = "BARO_MS5611_SPI"/> (which does nothing).

Also in master the INS_BARO_SENS is not needed/used anymore and you can remove it.

It seems there is currently no fake LED defined to use as a generic gpio on krooz_sd...

I'm also wondering how you installed the toolchain... Did you uninstall the paparazzi-arm-multilib package and install gcc-arm-embedded to /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc?

Also you get a warning that PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
What do you have configured for those?

Cheers, Felix

On Thu, Dec 19, 2013 at 6:36 PM, Jorn Anke <address@hidden> wrote:

Hi,

I am trying to configure a Krooz sd board to use the on-board barometer for altitude. The baro settings in the airframe file currently looks like this:

<firmware      name = "fixedwing">
    <target      name = "ap" board = "krooz_sd">
       <configure name = "KROOZ_BARO"           value = "BARO_MS5611_SPI"/>
     <configure name = "USE_BARO_BOARD"   value = "TRUE"/>
       ...

And I have tried with and without this line in the INS section:

<section name = "INS"                   prefix = "INS_">
    <define name = "BARO_SENS"             value = "22.3" integer = "16"/>
    ...

The configuration runs more or less ok, (a few warnings), but uploads and runs fine.

What I observe in the GCS is that altitude is changing between maybe 145m and 210m over a period of about an hour. This is more, and the change in altitude is also faster then I would have expected if the baro-readings was taken into account. So I suspect something is not correct in my current configuration.

Anyone who can see what I need to change?

--------------
Also, I can't find a reference in the schematics for the board - for how to configure a connector as a GPIO, for triggering a chdk enabled camera. (I did test the following settings, which compiles...)

      
      <define name = "DC_SHUTTER_LED"    value = "1"/>
      <define name = "USE_LED_1"            value = "1"/>

Cheers,

Jorn

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

RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Krooz_Skywalker ap.compile '
make: Entering directory `/home/jorn/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.1_devel-716-ge568d61-dirty
-----------------------------------------------------------------------
My_Krooz_Skywalker
BUILD My_Krooz_Skywalker, TARGET ap
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/airframe.h
##################################################
AIRFRAME MODEL: My_Krooz_Skywalker
##################################################
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/modules.h
Module baro_sim unloaded, target ap not supported
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/periodic_telemetry.h
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/settings.h
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/autopilot_core.h
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/radio.h
##################################################
RADIO MODEL: FASST TX Module
##################################################
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/generated/flight_plan.h
##################################################
FLIGHT PLAN: Test zamboni
##################################################

Warning: low altitude (240<185+60) in <waypoint Y="160" X="-180" NAME="AF" ALT="240"/>

Warning: low altitude (170<185+60) in <waypoint Y="10" X="-20" NAME="TD" ALT="170.0"/>

GENERATE /home/jorn/paparazzi/var/My_Krooz_Skywalker/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make TARGET=ap all
Using "arch/stm32/krooz.ld" as ldscript for target "ap".
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'

Using CC   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
GCC version:
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.7.4 20130913 (release) [ARM/embedded-4_7-branch revision 202601]

CREATING object dir /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/sys_time.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/sys_time_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./inter_mcu.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_int.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_float.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_geodetic_double.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_trig_int.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/math/pprz_orientation_conversion.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/i2c.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/i2c_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/ms5611.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/ms5611_i2c.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/boards/baro_board_ms5611_i2c.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main_fbw.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/electrical.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/commands.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/actuators.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/fbw_downlink.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main_ap.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/autopilot.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/ap_downlink.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/telemetry.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/state.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/settings.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/settings_arch.o
arch/stm32/subsystems/settings_arch.c: In function 'pflash_program_bytes':
arch/stm32/subsystems/settings_arch.c:194:55: warning: unused parameter 'flash' [-Wunused-parameter]
arch/stm32/subsystems/settings_arch.c:195:32: warning: unused parameter 'src' [-Wunused-parameter]
arch/stm32/subsystems/settings_arch.c:196:32: warning: unused parameter 'size' [-Wunused-parameter]
arch/stm32/subsystems/settings_arch.c:197:32: warning: unused parameter 'chksum' [-Wunused-parameter]
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/air_data.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./subsystems/ins.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/./subsystems/ins/ins_alt_float.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/lisa/plug_sys.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/gpio_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/main.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/led_hw.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/mcu_periph/uart.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/uart_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/mcu_periph/adc_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/radio_control.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/radio_control/ppm.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/radio_control/ppm_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/downlink.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/datalink/pprz_transport.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/datalink.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/firmwares/fixedwing/guidance/guidance_v.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/imu.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/boards/krooz/imu_krooz.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/arch/stm32/subsystems/imu/imu_krooz_sd_arch.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/mpu60x0.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/mpu60x0_i2c.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/peripherals/hmc58xx.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs/ahrs_int_cmpl_quat.o
subsystems/ahrs/ahrs_int_cmpl_quat.c:79:2: warning: #warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY [-Wcpp]
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/ahrs/ahrs_aligner.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/gps/gps_ubx.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/gps.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/nav.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/common_flight_plan.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/traffic_info.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/nav_survey_rectangle.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/subsystems/navigation/nav_line.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/gps/gps_ubx_ucenter.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/nav/zamboni_survey.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/digital_cam/led_cam_ctrl.o
CC /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/modules/digital_cam/dc.o
LD /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.elf
OBJCB /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.bin
OBJCH /home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.hex

Current size:
/home/jorn/paparazzi/var/My_Krooz_Skywalker/ap/ap.elf :
section              size         addr
.text             0x19e5c    0x8004000
.data              0x3fac   0x20000000
.bss               0x1640   0x20003fb0
.debug_info       0x43610          0x0
.debug_abbrev      0x8a0a          0x0
.debug_aranges     0x19d8          0x0
.debug_line        0xe42d          0x0
.debug_str         0x7917          0x0
.comment             0x70          0x0
.ARM.attributes      0x3b          0x0
.debug_loc        0x181c8          0x0
.debug_ranges      0x5058          0x0
.debug_frame       0x48ec          0x0
Total             0xa4735

make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: Leaving directory `/home/jorn/paparazzi'

DONE 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Krooz_Skywalker ap.compile'

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From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] Baro settings for Krooz
Date:	Fri, 20 Dec 2013 16:55:35 +0100