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Re: [Paparazzi-devel] Float error in Camera Module

From: Nicolas Quendez
Subject: Re: [Paparazzi-devel] Float error in Camera Module
Date: Tue, 7 Oct 2014 14:20:01 -0300

Felix,

I use 5.3 Paparazzi version. 
Here the output errors when using the wiki datas : 

In file included from ./inter_mcu.h:43:0,
                 from modules/cam_control/cam.h:31,
                 from modules/cam_control/cam.c:28:
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:269:21: error: floating constant in preprocessor _expression_
 #define CAM_PAN_MAX 0.7853981625
                     ^
modules/cam_control/cam.c:51:6: note: in expansion of macro 'CAM_PAN_MAX'
 #if (CAM_PAN_MAX == CAM_PAN_NEUTRAL)
      ^
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:270:25: error: floating constant in preprocessor _expression_
 #define CAM_PAN_NEUTRAL 0.
                         ^
modules/cam_control/cam.c:51:21: note: in expansion of macro 'CAM_PAN_NEUTRAL'
 #if (CAM_PAN_MAX == CAM_PAN_NEUTRAL)
                     ^
modules/cam_control/cam.c:52:2: error: #error CAM_PAN_MAX has to be different from CAM_PAN_NEUTRAL
 #error CAM_PAN_MAX has to be different from CAM_PAN_NEUTRAL
  ^
In file included from ./inter_mcu.h:43:0,
                 from modules/cam_control/cam.h:31,
                 from modules/cam_control/cam.c:28:
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:270:25: error: floating constant in preprocessor _expression_
 #define CAM_PAN_NEUTRAL 0.
                         ^
modules/cam_control/cam.c:54:6: note: in expansion of macro 'CAM_PAN_NEUTRAL'
 #if (CAM_PAN_NEUTRAL == CAM_PAN_MIN)
      ^
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:271:22: error: floating constant in preprocessor _expression_
 #define CAM_PAN_MIN -0.7853981625
                      ^
modules/cam_control/cam.c:54:25: note: in expansion of macro 'CAM_PAN_MIN'
 #if (CAM_PAN_NEUTRAL == CAM_PAN_MIN)
                         ^
modules/cam_control/cam.c:55:2: error: #error CAM_PAN_MIN has to be different from CAM_PAN_NEUTRAL
 #error CAM_PAN_MIN has to be different from CAM_PAN_NEUTRAL
  ^
In file included from ./inter_mcu.h:43:0,
                 from modules/cam_control/cam.h:31,
                 from modules/cam_control/cam.c:28:
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:265:22: error: floating constant in preprocessor _expression_
 #define CAM_TILT_MAX 0.523598775
                      ^
modules/cam_control/cam.c:61:7: note: in expansion of macro 'CAM_TILT_MAX'
 #if ((CAM_TILT_MAX) == (CAM_TILT_NEUTRAL))
       ^
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:266:26: error: floating constant in preprocessor _expression_
 #define CAM_TILT_NEUTRAL 0.
                          ^
modules/cam_control/cam.c:61:25: note: in expansion of macro 'CAM_TILT_NEUTRAL'
 #if ((CAM_TILT_MAX) == (CAM_TILT_NEUTRAL))
                         ^
modules/cam_control/cam.c:62:2: error: #error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL
 #error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL
  ^
In file included from ./inter_mcu.h:43:0,
                 from modules/cam_control/cam.h:31,
                 from modules/cam_control/cam.c:28:
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:266:26: error: floating constant in preprocessor _expression_
 #define CAM_TILT_NEUTRAL 0.
                          ^
modules/cam_control/cam.c:64:6: note: in expansion of macro 'CAM_TILT_NEUTRAL'
 #if (CAM_TILT_NEUTRAL == CAM_TILT_MIN)
      ^
/home/nicolas/paparazzi/var/aircrafts/WED/ap/generated/airframe.h:267:23: error: floating constant in preprocessor _expression_
 #define CAM_TILT_MIN -0.523598775
                       ^
modules/cam_control/cam.c:64:26: note: in expansion of macro 'CAM_TILT_MIN'
 #if (CAM_TILT_NEUTRAL == CAM_TILT_MIN)
                          ^
modules/cam_control/cam.c:65:2: error: #error CAM_TILT_MIN has to be different from CAM_TILT_NEUTRAL
 #error CAM_TILT_MIN has to be different from CAM_TILT_NEUTRAL
  ^
modules/cam_control/cam.c:132:1: warning: data definition has no type or storage class [enabled by default]
 chute = 0;
 ^
modules/cam_control/cam.c:132:1: warning: type defaults to 'int' in declaration of 'chute' [enabled by default]
modules/cam_control/cam.c: In function 'cam_periodic':
modules/cam_control/cam.c:139:5: warning: switch missing default case [-Wswitch-default]
     switch (cam_mode) {
     ^
make[1]: *** [/home/nicolas/paparazzi/var/aircrafts/WED/ap/modules/cam_control/cam.o] Error 1
make[1]: Leaving directory `/home/nicolas/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/nicolas/paparazzi'

FAILED 'make -C /home/nicolas/paparazzi -f Makefile.ac AIRCRAFT=WED ap.compile' with code 2



Best regards
Nicolas


Le 7 oct. 2014 à 13:54, Felix Ruess <address@hidden> a écrit :

Hi Nicolas,

can you please post the actual error output and the paparazzi_version you are using?

Cheers, Felix

On Tue, Oct 7, 2014 at 6:38 PM, Nicolas Quendez <address@hidden> wrote:
Hi,

Trying to implement the camera module, I had a « float error » when applying the wiki : 


   <servo name="CAM_PAN"  no="3" min="2000" neutral="1550" max="1000"/>
   <servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>
 
   <axis name="CAM_TILT" failsafe_value="0"/>
   <axis name="CAM_PAN"  failsafe_value="0"/>
 
   <set command="CAM_PAN"  value="@YAW"/>
   <set command="CAM_TILT" value="@GAIN1"/>
 
   <set servo="CAM_PAN"  value="@CAM_PAN"/>
   <set servo="CAM_TILT" value="@CAM_TILT"/>
 
 <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>
 
  <modules main_freq="60">
    <load name="cam_point.xml">
      <define name="POINT_CAM_PITCH_ROLL"  value="1"/>
      <define name="SHOW_CAM_COORDINATES" value="1"/>
    </load>
  </modules>


After reading some old posts, removing the unit=« deg »  solves the problem, but in my case, adding  code_unit=« deg »  did not. 

So perhaps it could be good to remove the unit=« deg » in the wiki ? 

Best regards
Nicolas


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