[Paparazzi-devel] Building a Code for the first time

[notoriou5]

Hello, 

I am pretty new to paparazzi and I am about to build my first own code. I
tried to build a code for a Y4-Copter which is supposed to get a tilting
coaxial front engine later.

The Code is mostly the basics I found on the homepage with some inspiration
from the old quadshot file. As Flight Plan, Settings, Radio and Telemetry
files I just used the dummy.xml file. 

I tried to build it with the Target set as sim and as ap, but neither of
them worked. I always get the following message:
- - - - - 

RUN 'make -C /home/kevin/paparazzi -f Makefile.ac AIRCRAFT=Tiltrotor
PRINT_CONFIG=1 sim.compile '
make: Entering directory `/home/kevin/paparazzi'
#######################################
# BUILD AIRCRAFT=Tiltrotor, TARGET sim
#######################################
Fatal error: exception Xml.Error(_)
make: *** [sim.ac_h] Error 2
make: Leaving directory `/home/kevin/paparazzi'

FAILED 'make -C /home/kevin/paparazzi -f Makefile.ac AIRCRAFT=Tiltrotor
PRINT_CONFIG=1 sim.compile' with code 2

- - - - -

I could not find a easy way to attach my aircraft file, so I will just post
it here:


<!DOCTYPE airframe SYSTEM &quot;../airframe.dtd&quot;>
<airframe name="Tiltrotor">


                                                

<firmware name="rotorcraft">
 <target name="nps" board="pc">
  <subsystem name="fdm" type="jsbsim"/>
 </target>
 <target name="ap"  board="lisa_mx_2.1"/> 
        
 
 <subsystem name="imu"                   type="aspirin_v2.1"/> 
 <subsystem name="ahrs"                  type="int_cmpl_euler"/>
 <subsystem name="radio_control" type="ppm">
   
   <define name="RADIO_MODE"     value="RADIO_AUX1"/>
 <subsystem name="telemetry"     type="xbee_api"/>
 <subsystem name="actuators"     type="pwm">
   <define name="SERVO_HZ"       value="400"/>
 <subsystem name="stabilization" type="int_euler"/>
 <subsystem name="ins"/>
</firmware>


                                                

<servos driver="Pwm">
  <servo name="FT"           no="0" min="1000" neutral="1050" max="2000"/>
  <servo name="FB"           no="1" min="1000" neutral="1050" max="2000"/>
  <servo name="BL"               no="2" min="1000" neutral="1050" max="2000"/>
  <servo name="BR"               no="3" min="1000" neutral="1050" max="2000"/>
  <servo name="ELEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
  <servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
  <servo name="TILT"             no="6" min="1000" neutral="1500" max="2000"/>
</servos>

<commands>
 <axis name="PITCH"             failsafe_value="0"/>
 <axis name="ROLL"              failsafe_value="0"/>
 <axis name="YAW"               failsafe_value="0"/>
 <axis name="THRUST"    failsafe_value="0"/>
</commands>

<command_laws>
  <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
  <set servo="FT"  value="motor_mixing.commands[0]"/>
  <set servo="FB"  value="motor_mixing.commands[1]"/>
  <set servo="BL"  value="motor_mixing.commands[2]"/>
  <set servo="BR"  value="motor_mixing.commands[3]"/>


  <let var="hover_left"  value="0"/>
  <let var="hover_right" value="0"/> 
  <let var="flight_left" value="0"/>
  <let var="fight_right" value="0"/>


  <set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_left  : $flight_left" />
  <set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_right  : $flight_right" />
</command_laws>


                                                

<section name="MIXING" prefix="MOTOR_MIXING_">
  <define name="TRIM_ROLL" value="0"/>
  <define name="TRIM_PITCH" value="0"/>
  <define name="TRIM_YAW" value="0"/>
  <define name="NB_MOTOR" value="4"/>
  <define name="SCALE" value="256"/>


  <let var="hover_pitch"   value="{ 256, 256, 0, 0 }"/>
  <let var="hover_roll"    value="{ 256, -256, -256, 256 }"/>
  <let var="hover_yaw"     value="{ -256, 256, 0, 0 }"/>
  <let var="hover_thrust"  value="{ 256, 256, 256, 256 }"/>

  <let var="flight_pitch"  value="{ 0, 0, 0, 0 }"/>
  <let var="flight_roll"   value="{ 0, 0, 0, 0 }"/>
  <let var="flight_yaw"    value="{ 0, 0, 0, 0 }"/>
  <let var="flight_thrust" value="{ 256, 256, 0, 0 }"/>

  <define name="PITCH_COEF"  value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_pitch : flight_pitch"/>
  <define name="ROLL_COEF"   value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_roll : flight_roll"/>
  <define name="YAW_COEF"    value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_yaw : flight_yaw"/>
  <define name="THRUST_COEF" value="AP_MODE == AP_MODE_RC_DIRECT ?
$hover_thrust : flight_thrust"/>
</section>



                                                


<section name="AUTOPILOT">
  <define name="MODE_MANUAL"  value="AP_MODE_KILL"/>
  
  <define name="MODE_AUTO1"   value="AP_MODE_RC_DIRECT"/> 
  <define name="MODE_AUTO2"   value="AP_MODE_ATTITUDE_DIRECT"/>

  <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
</section>




                                                

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
  <define name="HOVER_KP"    value="150"/>
  <define name="HOVER_KD"    value="80"/>
  <define name="HOVER_KI"    value="20"/>
  
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
  <define name="PGAIN" value="50"/>
  <define name="DGAIN" value="100"/>
  <define name="IGAIN" value="20"/>
  
</section>



                                        

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
  
  <define name="SP_MAX_PHI"     value="45." unit="deg"/>
  <define name="SP_MAX_THETA"   value="45." unit="deg"/>
  <define name="SP_MAX_R"       value="90." unit="deg/s"/>
  <define name="DEADBAND_A"     value="0"/>
  <define name="DEADBAND_E"     value="0"/>
  <define name="DEADBAND_R"     value="250"/>
 
  
  <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
  <define name="REF_ZETA_P"   value="0.85"/>
  <define name="REF_MAX_P"    value="400." unit="deg/s"/>
  <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
 
  <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
  <define name="REF_ZETA_Q"   value="0.85"/>
  <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
  <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
  <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
  <define name="REF_ZETA_R"   value="0.85"/>
  <define name="REF_MAX_R"    value="180." unit="deg/s"/>
  <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
  
  <define name="PHI_PGAIN"  value="1000"/>
  <define name="PHI_DGAIN"  value="400"/>
  <define name="PHI_IGAIN"  value="200"/>
 
  <define name="THETA_PGAIN"  value="1000"/>
  <define name="THETA_DGAIN"  value="400"/>
  <define name="THETA_IGAIN"  value="200"/>
 
  <define name="PSI_PGAIN"  value="500"/>
  <define name="PSI_DGAIN"  value="300"/>
  <define name="PSI_IGAIN"  value="10"/>
 
  
  <define name="PHI_DDGAIN"   value="300"/>
  <define name="THETA_DDGAIN" value="300"/>
  <define name="PSI_DDGAIN"   value="300"/>
</section>

</airframe>
- - - - - -

I really hope to get some ideas on how to solve this problem.

Thanks to everyone taking out so much time of his to help me, 

Kevin



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