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

[Joseph Muhlhausen]

It worked! Thanks Felix

On Sun, Jan 24, 2016 at 2:01 PM, Felix Ruess <address@hidden> wrote:

Hi Joseph,

add
include $(CFG_SHARED)/imu_nps.makefile

to conf/firmwares/subsystems/shared/imu_umarim.makefile

this should already be fixed in v5.6 and later...

Cheers, Felix

On Sun, Jan 24, 2016 at 7:17 PM, Joseph Muhlhausen <address@hidden> wrote:

Hi Felix,

Here is my airframe http://pastebin.com/vrfpiRwH

I will move to 5.8 in a couple of weeks and see if it fixes the errors.

Thanks,

Joseph

On Sun, Jan 24, 2016 at 10:16 AM, Felix Ruess <address@hidden> wrote:

Hi Joseph,

it's a bit hard to say where the error without your full airframe file.

Though it looks like you don't have an IMU subsystem added for the NPS target.

Also there were quite a few fixes for NPS since then (especially in v5.6).
See https://github.com/paparazzi/paparazzi/blob/master/CHANGELOG.md

Updating your module to work with the latest stable release (v5.8) should not be much work (depending on what you used in your module).

I suggest to give it a shot...

Cheers, Felix

On Sun, Jan 24, 2016 at 4:03 PM, Joseph Muhlhausen <address@hidden> wrote:

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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