Re: [Paparazzi-devel] 'IMU_MAG_X_SENS' undeclared when using NPS

[Joseph Muhlhausen]

Thanks Felix,

I'd like to avoid upgrading to 5.8 as I have written a module in 5.4 and I am a bit short on time at the moment. (unless it fixes NPS...)

I have tried adding your code under 

   <target name="nps"   board="pc">

      <subsystem name="fdm" type="jsbsim"/>

          <define name="IMU_MAG_X_SENS" value="1"/>

          <define name="IMU_MAG_Y_SENS" value="1"/>

          <define name="IMU_MAG_Z_SENS" value="1"/>

    </target> 

And I get this error:

home/cgs/paparazzi/var/aircrafts/ziitst/nps//home/cgs/paparazzi/sw/simulator/nps/nps_autopilot_fixedwing.o: In function `nps_autopilot_run_step':

/home/cgs/paparazzi/sw/simulator/nps/nps_autopilot_fixedwing.c:110: undefined reference to `imu_feed_mag'

/home/cgs/paparazzi/sw/simulator/nps/nps_autopilot_fixedwing.c:104: undefined reference to `imu_feed_gyro_accel'

/home/cgs/paparazzi/var/aircrafts/ziitst/nps/subsystems/ahrs/ahrs_aligner.o: In function `pprz_msg_send_FILTER_ALIGNER':

/home/cgs/paparazzi/var/include/messages.h:2593: undefined reference to `imu'

/home/cgs/paparazzi/var/include/messages.h:2594: undefined reference to `imu'

/home/cgs/paparazzi/var/include/messages.h:2595: undefined reference to `imu'

/home/cgs/paparazzi/var/aircrafts/ziitst/nps/subsystems/ahrs/ahrs_aligner.o: In function `ahrs_aligner_run':

/home/cgs/paparazzi/sw/airborne/subsystems/ahrs/ahrs_aligner.c:87: undefined reference to `imu'

/home/cgs/paparazzi/sw/airborne/subsystems/ahrs/ahrs_aligner.c:86: undefined reference to `imu'

/home/cgs/paparazzi/var/aircrafts/ziitst/nps/subsystems/ahrs/ahrs_aligner.o:/home/cgs/paparazzi/sw/airborne/subsystems/ahrs/ahrs_aligner.c:86: more undefined references to `imu' follow

collect2: ld returned 1 exit status

make[1]: *** [/home/cgs/paparazzi/var/aircrafts/ziitst/nps/simsitl] Error 1

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

make: *** [nps.compile] Error 2

make: Leaving directory `/home/cgs/paparazzi'

On Sun, Jan 24, 2016 at 9:38 AM, Felix Ruess <address@hidden> wrote:

Hi Joseph,

in that case you can just add

<define name="IMU_MAG_X_SENS" value="1"/>
<define name="IMU_MAG_Y_SENS" value="1"/>
<define name="IMU_MAG_Z_SENS" value="1"/>

to your airframe file (in order to satisfy the mag simulation).

Also I would recommend to update to v5.8 ;-)

Cheers, Felix

On Sun, Jan 24, 2016 at 3:32 PM, Joseph Muhlhausen <address@hidden> wrote:

Hello all,

I use version v5.4.2_stable-3-gc8d866b-dirty and my board is UmarimLite 2.

I am trying to compile NPS and I have added the following to my airframe file:

<target name="nps"   board="pc">

      <subsystem name="fdm" type="jsbsim"/>

    </target>

  <section name="SIMULATOR" prefix="NPS_">

    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>

    <define name="JSBSIM_LAUNCHSPEED" value="20"/>

    <define name="COMMANDS_NB" value="3"/>

    <define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;}"/>

    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_invariant.h&quot;"/>

    <define name="JS_AXIS_MODE" value="4"/>

    <define name="BYPASS_AHRS" value="TRUE"/>

  </section>

And I get this error:

/home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.c: In function 'nps_sensor_mag_init':

/home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.c:12:3: error: 'IMU_MAG_X_SENS' undeclared (first use in this function)

/home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.c:12:3: note: each undeclared identifier is reported only once for each function it appears in

/home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.c:12:3: error: 'IMU_MAG_Y_SENS' undeclared (first use in this function)

/home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.c:12:3: error: 'IMU_MAG_Z_SENS' undeclared (first use in this function)

make[1]: *** [/home/cgs/paparazzi/var/aircrafts/ziitst/nps//home/cgs/paparazzi/sw/simulator/nps/nps_sensor_mag.o] Error 1

make[1]: *** Waiting for unfinished jobs....

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

make: *** [nps.compile] Error 2

make: Leaving directory `/home/cgs/paparazzi'

I think it is related to the fact that the Umarim IMU does not have a mag, but I'm not sure how to fix it.

Thanks

Joseph

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