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Re: [Paparazzi-devel] Parrot bebop joystick control

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Parrot bebop joystick control
Date: Tue, 31 Mar 2015 12:11:39 +0200
Hi guys,

sorry for the late reply...
The joystick.xml is only for fixedwings. If you just want to fly the bebop with joystick as "RC" you don't need to change anything in the default bebop file.

Cheers, Felix

On Sun, Mar 22, 2015 at 2:42 PM, sven4all <address@hidden> wrote:
Hi all,

We are trying to control a parrot bebop with a joystick. We followed the
following guides https://wiki.paparazziuav.org/wiki/Bebop and
https://wiki.paparazziuav.org/wiki/Joystick, and everything works well,
until we try to use the joystick.xml instead of the basic-rotorcraft.xml
(see the logging below this mail). Do we need to write a custom flightplan
to control a rotorcraft by joystick or are we doing something else wrong?

Thanks in advance!

Best regards,

Bernd, Matthijs, Sven

RUN 'make -C /home/matthijs/paparazzi -f Makefile.ac AIRCRAFT=bebop
PRINT_CONFIG=1 ap.compile '
make: Entering directory `/home/matthijs/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.5_devel-363-ged5223e
-----------------------------------------------------------------------
#######################################
# BUILD AIRCRAFT=bebop, TARGET ap
#######################################
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/airframe.h from
airframes/bebop.xml
GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/modules.h
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/periodic_telemetry.h
from telemetry/default_rotorcraft.xml
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/settings.h
GENERATE autopilots in
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/
make[1]: Leaving directory `/home/matthijs/paparazzi'
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/radio.h
from radios/cockpitSX.xml
make[1]: Leaving directory `/home/matthijs/paparazzi'
make[1]: Entering directory `/home/matthijs/paparazzi'
GENERATE
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h from
flight_plans/joystick.xml

Warning: low altitude (0<0+25) in <waypoint Y="57.0" X="28.8" NAME="TD"
ALT="0.0"/>

GENERATE /home/matthijs/paparazzi/var/aircrafts/bebop/flight_plan.xml from
flight_plans/joystick.xml
make[1]: Leaving directory `/home/matthijs/paparazzi'
cd sw/airborne; make -j8 TARGET=ap all
make[1]: Entering directory `/home/matthijs/paparazzi/sw/airborne'

Using CC   = arm-linux-gnueabi-gcc
GCC version:
arm-linux-gnueabi-gcc (Ubuntu/Linaro 4.7.3-12ubuntu1) 4.7.3

CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/boards/bebop/video.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/mcu.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/mcu_arch.o
arch/linux/mcu_arch.c:34:1: note: #pragma message: Config: Catching SIGINT.
Press CTRL-C twice to stop program.
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/mcu_periph/sys_time.o
mcu_periph/sys_time.c:33:1: note: #pragma message: Config:
SYS_TIME_FREQUENCY = (2 * 512)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/mcu_periph/sys_time_arch.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_int.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_float.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_geodetic_double.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_trig_int.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_orientation_conversion.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_int.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_float.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/math/pprz_algebra_double.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/settings.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/arch/linux/subsystems/settings_arch.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/actuators.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/subsystems/commands.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/state.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/peripherals/ms5611.o
CC /home/matthijs/paparazzi/var/aircrafts/bebop/ap/peripherals/ms5611_i2c.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/boards/baro_board_ms5611_i2c.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization/stabilization_none.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/stabilization/stabilization_rate.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_h.o
firmwares/rotorcraft/guidance/guidance_h.c:66:1: note: #pragma message:
Config: GUIDANCE_H_USE_REF = (!0)
firmwares/rotorcraft/guidance/guidance_h.c:67:1: note: #pragma message:
Config: GUIDANCE_H_USE_SPEED_REF = (!0)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_h_ref.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v.o
firmwares/rotorcraft/guidance/guidance_v.c:62:1: note: #pragma message:
Config: GUIDANCE_V_NOMINAL_HOVER_THROTTLE = 0.655
firmwares/rotorcraft/guidance/guidance_v.c:63:1: note: #pragma message:
Config: GUIDANCE_V_ADAPT_THROTTLE_ENABLED = (!0)
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v_ref.o
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/guidance/guidance_v_adapt.o
firmwares/rotorcraft/guidance/guidance_v_adapt.c:45:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE = 0.3
firmwares/rotorcraft/guidance/guidance_v_adapt.c:54:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE = 0.2
firmwares/rotorcraft/guidance/guidance_v_adapt.c:63:1: note: #pragma
message: Config: GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE = 0.75
CC
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/navigation.o
In file included from firmwares/rotorcraft/navigation.c:40:0:
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h: In
function 'auto_nav':
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:242:9:
warning: implicit declaration of function 'nav_eight_init'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:242:9:
warning: nested extern declaration of 'nav_eight_init' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:247:9:
warning: implicit declaration of function 'Eight'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:247:9:
warning: nested extern declaration of 'Eight' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:261:9:
warning: implicit declaration of function 'nav_oval_init'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:261:9:
warning: nested extern declaration of 'nav_oval_init' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:266:9:
warning: implicit declaration of function 'Oval'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:266:9:
warning: nested extern declaration of 'Oval' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:286:22:
error: 'DEFAULT_CIRCLE_RADIUS' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:286:22:
note: each undeclared identifier is reported only once for each function it
appears in
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:306:9:
warning: implicit declaration of function 'nav_line_setup'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:306:9:
warning: nested extern declaration of 'nav_line_setup' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:312:9:
warning: implicit declaration of function 'nav_line_run'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:312:9:
warning: nested extern declaration of 'nav_line_run' [-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:9:
warning: implicit declaration of function 'NavSurveyRectangleInit'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:9:
warning: nested extern declaration of 'NavSurveyRectangleInit'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:329:43:
error: 'NS' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:332:9:
warning: implicit declaration of function 'NavSurveyRectangle'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:332:9:
warning: nested extern declaration of 'NavSurveyRectangle'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:346:9:
error: 'lateral_mode' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:346:24:
error: 'LATERAL_MODE_ROLL' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:349:9:
error: 'v_ctl_mode' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:349:22:
error: 'V_CTL_MODE_MANUAL' undeclared (first use in this function)
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:406:9:
warning: implicit declaration of function 'nav_compute_baseleg'
[-Wimplicit-function-declaration]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:406:9:
warning: nested extern declaration of 'nav_compute_baseleg'
[-Wnested-externs]
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:421:91:
error: expected ')' before '&&' token
/home/matthijs/paparazzi/var/aircrafts/bebop/ap/generated/flight_plan.h:421:13:
error: void value not ignored as it ought to be
make[1]: ***
[/home/matthijs/paparazzi/var/aircrafts/bebop/ap/firmwares/rotorcraft/navigation.o]
Error 1
make[1]: Leaving directory `/home/matthijs/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/matthijs/paparazzi'

FAILED 'make -C /home/matthijs/paparazzi -f Makefile.ac AIRCRAFT=bebop
PRINT_CONFIG=1 ap.compile' with code 2




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