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From: | Felix Ruess |
Subject: | Re: [Paparazzi-devel] GPS behavour after renaming subsystems to modules. |
Date: | Mon, 20 Jun 2016 17:08:29 +0200 |
Helge.Thans for any help,I am on version v5.8.1_stable-4-gbc4bff1.With GPS as subsystem everything works normally.When I build the aircraft with GPS named as module, the order of the two lines are reversed and I get this:When I build the aircraft with GPS as subsystem, I get this on the compiling list:In Paparazzi center, I repeatedly I get the message Invalid_argument("Latlong.of_utm").Hi,I am testing my airframe files after renaming subsystems to modules, and I get some problems with my GPS, which is a Navilock NL-552ettl. The GPS reports a fix in GCS, but the aircraft does not show up on the screen. The waypoints disappear from the screen one after the other after the fix is obtained.
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps/gps_ubx.o
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps.o
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps.o
CC /home/helge/paparazzi/var/aircrafts/SKYWALKERHW_TWOG_V1_SEN10121_IMU/ap/subsystems/gps/gps_ubx.o
Below is the firmware part of my airframe file.
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
<define name="USE_I2C0"/>
<define name="PERIOD_NAVIGATION_0"/><!-- stop NAVIGATION msg in main_ap.c -->
</target>
<target name="sim" board="pc"/>
<!-- Global firmware defines -->
<define name="LOITER_TRIM"/>
<define name="AGR_CLIMB"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>
<!-- Sensors -->
<!-- <module name="gps" type="ublox"/> -->
<subsystem name="gps" type="ublox"/>
<module name="imu" type="sen10121">
<define name="IMU_SEN10121_ID" value="28"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/>
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
</module>
<!-- Radio Control -->
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<module name="telemetry" type="transparent"/>
<!-- Navigation -->
<module name="navigation"/>
<!-- Actuators -->
<module name="control"/>
<module name="ins" type="alt_float"/>
<module name="baro_ms5611_i2c_twin.xml">
<define name="MS5611_I2C_DEV_1" value="i2c0"/>
<define name="MS5611_I2C_DEV_2" value="i2c0"/>
<define name="MS5611_SLAVE_ADDR_1" value="0xEE"/>
<define name="MS5611_SLAVE_ADDR_2" value="0xEC"/>
<define name="MS5611_KALMAN_Q" value=".5"/>
<define name="MS5611_KALMAN_R" value="6."/>
<define name="MS5611_AIRSPEED_SCALE_FACTOR" value="2.5"/>
<define name="SENSOR_SYNC_SEND"/>
</module>
<module name="air_data.xml"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1.0"/>
<target name="setup_actuators" board="twog_1.0"/>
</firmware>
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