Hi everyone,

first of all, I would like to thank everyone who is putting their spare time in developing the hard and software for the APM.

After reading the manual and installing tourtoise, I was able to check out (http://ardupilot-mega.googlecode.com/svn/Sketchbook/trunk) a copy of the software (like 2 weeks ago) and was able to compile and upload to the board. First debug tests (changed in the config file) were ok.

Then I ordered an MTK GPS although I had 2 of them lying around (original 406 and LS..31) because it seems that the ublox and MTK are supported best.

So yesterday I checked out the SVN again (update), and tried to compile (nothing changed in config). Result in IDE:

...\apm_svn\libraries\FastSerial\/FastSerial.h:56:20: error: Stream.h: No such file or directory
...\apm_svn\libraries\FastSerial\/FastSerial.h:89: error: expected class-name before '{' token
...\apm_svn\libraries\FastSerial\/FastSerial.h:109: error: 'Stream' has not been declared

It seems like a problem with linux/unix conversion (slash instead of backslash in the path, as well as fastserial.h not beeing converted to windows ascii)

(downloading the .zip file and libraries directly is OK, and compiles, but MTK seems not to be supported: a compile with MTK selected goes wrong)

Questions:
---------------

1. How do I check out a working copy of the software which supports MTK GPS ?
2. Will that Version then also support X-Plane (this will be my next test) ? I seem to remember Doug telling not to activate xplane gcs.
3. Is there a way to visualize log data from the board?

TIA
Peter

Tags: GCS, GPS, Mediatek, SVN

Views: 90

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Hi, to fix the stream.h problem install Arduino 19 http://arduino.cc/en/Main/Software
Hi Michael,

thanks for the lightening fast reply.

I just downloaded Arduino 19, and problem seems gone - just to get these errors on compiling the svn checkout :( :

ArduPilotMega.cpp:44:20: error: Doug.h: No such file or directory
ArduPilotMega:99: error: 'CH1_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH2_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH3_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH4_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH5_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH6_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH7_MIN' was not declared in this scope
ArduPilotMega:99: error: 'CH8_MIN' was not declared in this scope
ArduPilotMega:101: error: 'CH1_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH2_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH3_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH4_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH5_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH6_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH7_MAX' was not declared in this scope
ArduPilotMega:101: error: 'CH8_MAX' was not declared in this scope
ArduPilotMega:136: error: 'SERVO_ROLL_P' was not declared in this scope
ArduPilotMega:136: error: 'SERVO_PITCH_P' was not declared in this scope
ArduPilotMega:136: error: 'SERVO_RUDDER_P' was not declared in this scope
ArduPilotMega:136: error: 'NAV_ROLL_P' was not declared in this scope
ArduPilotMega:136: error: 'NAV_PITCH_ASP_P' was not declared in this scope
ArduPilotMega:136: error: 'NAV_PITCH_ALT_P' was not declared in this scope
ArduPilotMega:136: error: 'THROTTLE_TE_P' was not declared in this scope
ArduPilotMega:136: error: 'THROTTLE_ALT_P' was not declared in this scope
ArduPilotMega:137: error: 'SERVO_ROLL_I' was not declared in this scope
ArduPilotMega:137: error: 'SERVO_PITCH_I' was not declared in this scope
ArduPilotMega:137: error: 'SERVO_RUDDER_I' was not declared in this scope
ArduPilotMega:137: error: 'NAV_ROLL_I' was not declared in this scope
ArduPilotMega:137: error: 'NAV_PITCH_ASP_I' was not declared in this scope
ArduPilotMega:137: error: 'NAV_PITCH_ALT_I' was not declared in this scope
ArduPilotMega:137: error: 'THROTTLE_TE_I' was not declared in this scope
ArduPilotMega:137: error: 'THROTTLE_ALT_I' was not declared in this scope
ArduPilotMega:138: error: 'SERVO_ROLL_D' was not declared in this scope
ArduPilotMega:138: error: 'SERVO_PITCH_D' was not declared in this scope
ArduPilotMega:138: error: 'SERVO_RUDDER_D' was not declared in this scope
ArduPilotMega:138: error: 'NAV_ROLL_D' was not declared in this scope
ArduPilotMega:138: error: 'NAV_PITCH_ASP_D' was not declared in this scope
ArduPilotMega:138: error: 'NAV_PITCH_ALT_D' was not declared in this scope
ArduPilotMega:138: error: 'THROTTLE_TE_D' was not declared in this scope
ArduPilotMega:138: error: 'THROTTLE_ALT_D' was not declared in this scope
ArduPilotMega:140: error: 'SERVO_ROLL_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'SERVO_PITCH_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'SERVO_RUDDER_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'NAV_ROLL_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'NAV_PITCH_ASP_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'NAV_PITCH_ALT_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'THROTTLE_TE_INT_MAX' was not declared in this scope
ArduPilotMega:140: error: 'THROTTLE_ALT_INT_MAX' was not declared in this scope
ArduPilotMega:154: error: 'PITCH_COMP' was not declared in this scope
ArduPilotMega:154: error: 'RUDDER_MIX' was not declared in this scope
ArduPilotMega:154: error: 'P_TO_T' was not declared in this scope
ArduPilotMega:201: error: 'AIRSPEED_CRUISE' was not declared in this scope
ArduPilotMega:216: error: 'LOW_VOLTAGE' was not declared in this scope
ArduPilotMega:268: error: 'THROTTLE_CRUISE' was not declared in this scope
ArduPilotMega.cpp: In function 'void update_GPS()':
ArduPilotMega:669: error: 'ENABLE_AIR_START' was not declared in this scope
ArduPilotMega:683: error: 'ALTITUDE_MIX' was not declared in this scope
ArduPilotMega.cpp: In function 'void update_current_flight_mode()':
ArduPilotMega:760: error: 'HEAD_MAX' was not declared in this scope
ArduPilotMega:771: error: 'PITCH_MIN' was not declared in this scope
ArduPilotMega:801: error: 'THROTTLE_CRUISE' was not declared in this scope
ArduPilotMega.cpp: In function 'void stabilize()':
Attitude:22: error: 'PITCH_COMP' was not declared in this scope
Attitude:26: error: 'DISABLE_STICK_MIXING' was not declared in this scope
Attitude:52: error: 'DISABLE_STICK_MIXING' was not declared in this scope
ArduPilotMega.cpp: In function 'void calc_throttle()':
Attitude:89: error: 'THROTTLE_MAX' was not declared in this scope
Attitude:89: error: 'PITCH_MAX' was not declared in this scope
Attitude:91: error: 'THROTTLE_MIN' was not declared in this scope
Attitude:91: error: 'PITCH_MIN' was not declared in this scope
Attitude:101: error: 'THROTTLE_MIN' was not declared in this scope
Attitude:101: error: 'THROTTLE_MAX' was not declared in this scope
ArduPilotMega.cpp: In function 'void calc_nav_pitch()':
Attitude:163: error: 'PITCH_MIN' was not declared in this scope
Attitude:163: error: 'PITCH_MAX' was not declared in this scope
ArduPilotMega.cpp: In function 'void calc_nav_roll()':
Attitude:173: error: 'AIRSPEED_CRUISE' was not declared in this scope
Attitude:185: error: 'HEAD_MAX' was not declared in this scope
ArduPilotMega.cpp: In function 'float roll_slew_limit(float)':
Attitude:196: error: 'ROLL_SLEW_LIMIT' was not declared in this scope
ArduPilotMega.cpp: In function 'float throttle_slew_limit(float)':
Attitude:207: error: 'THROTTLE_SLEW_LIMIT' was not declared in this scope
ArduPilotMega.cpp: In function 'void acknowledge(byte, byte, byte)':
GCS_Standard:16: error: 'SendSer' was not declared in this scope
ArduPilotMega.cpp: In function 'void send_message(byte, long int)':
GCS_Standard:49: error: 'SendSer' was not declared in this scope
ArduPilotMega.cpp: In function 'void send_message(byte, const char*)':
GCS_Standard:299: error: 'DEBUG_LEVEL' was not declared in this scope
GCS_Standard:307: error: 'SendSer' was not declared in this scope
ArduPilotMega.cpp: In function 'void read_control_switch()':
control_modes:12: error: 'POSITION_1' was not declared in this scope
control_modes:16: error: 'POSITION_2' was not declared in this scope
control_modes:20: error: 'POSITION_3' was not declared in this scope
control_modes:24: error: 'POSITION_4' was not declared in this scope
control_modes:28: error: 'POSITION_5' was not declared in this scope
control_modes:32: error: 'POSITION_6' was not declared in this scope
ArduPilotMega.cpp: In function 'byte readSwitch()':
control_modes:45: error: 'MODE_CHANNEL' was not declared in this scope
ArduPilotMega.cpp: In function 'void failsafe_event()':
events:23: error: 'THROTTLE_CRUISE' was not declared in this scope
events:30: error: 'FAILSAFE_ACTION' was not declared in this scope
ArduPilotMega.cpp: In function 'void low_battery_event()':
events:54: error: 'THROTTLE_CRUISE' was not declared in this scope
ArduPilotMega.cpp: In function 'void update_crosstrack()':
navigation:137: error: 'XTRACK_GAIN' was not declared in this scope
navigation:137: error: 'XTRACK_ENTRY_ANGLE' was not declared in this scope
ArduPilotMega.cpp: In function 'void read_radio()':
radio:28: error: 'CH3_MIN' was not declared in this scope
radio:28: error: 'CH3_MAX' was not declared in this scope
ArduPilotMega.cpp: In function 'void read_airspeed()':
sensors:30: error: 'AIRSPEED_RATIO' was not declared in this scope
ArduPilotMega.cpp: In function 'void init_ardupilot()':
system:28: error: 'SERIAL0_BAUD' was not declared in this scope
system:76: error: 'CH3_MIN' was not declared in this scope
system:122: error: 'DEBUG_SUBSYSTEM' was not declared in this scope
system:124: error: 'ENABLE_AIR_START' was not declared in this scope
system:134: error: 'MODE_CHANNEL' was not declared in this scope
ArduPilotMega.cpp: In function 'void startup_ground()':
system:189: error: 'CH1_MAX' was not declared in this scope
system:190: error: 'CH2_MAX' was not declared in this scope
system:191: error: 'CH3_MAX' was not declared in this scope
system:192: error: 'CH4_MAX' was not declared in this scope
system:193: error: 'CH5_MAX' was not declared in this scope
system:194: error: 'CH6_MAX' was not declared in this scope
system:195: error: 'CH7_MAX' was not declared in this scope
system:196: error: 'CH8_MAX' was not declared in this scope
system:197: error: 'CH1_MIN' was not declared in this scope
system:198: error: 'CH2_MIN' was not declared in this scope
system:199: error: 'CH3_MIN' was not declared in this scope
system:200: error: 'CH4_MIN' was not declared in this scope
system:201: error: 'CH5_MIN' was not declared in this scope
system:202: error: 'CH6_MIN' was not declared in this scope
system:203: error: 'CH7_MIN' was not declared in this scope
system:204: error: 'CH8_MIN' was not declared in this scope
the reason for this error is doug.h doesnt exist, you need to comment out that line and uncomment the apm_config.h and apm_pids.h lines
I really appriciate your help - but feeling kinda stupid ;)
Allmost there now - I hope.

Now (after commenting out like you told me in the previous post) I get this...

1. With ublox as GPS (#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX):

ArduPilotMega.cpp: In function 'void debug_subsystem()':
debug:169: error: 'class AP_GPS_UBLOX' has no member named 'Read'
debug:171: error: 'class AP_GPS_UBLOX' has no member named 'NewData'
debug:173: error: 'class AP_GPS_UBLOX' has no member named 'Lattitude'
debug:175: error: 'class AP_GPS_UBLOX' has no member named 'Longitude'
debug:177: error: 'class AP_GPS_UBLOX' has no member named 'Altitude'
debug:179: error: 'class AP_GPS_UBLOX' has no member named 'Ground_Speed'
debug:181: error: 'class AP_GPS_UBLOX' has no member named 'Ground_Course'
debug:184: error: 'class AP_GPS_UBLOX' has no member named 'NumSats'
debug:186: error: 'class AP_GPS_UBLOX' has no member named 'Fix'
debug:188: error: 'class AP_GPS_UBLOX' has no member named 'Time'

2. With MTK as GPS (#define GPS_PROTOCOL GPS_PROTOCOL_MTK):

ArduPilotMega.cpp: In function 'void debug_subsystem()':
debug:169: error: 'class AP_GPS_MTK' has no member named 'Read'
debug:171: error: 'class AP_GPS_MTK' has no member named 'NewData'
debug:173: error: 'class AP_GPS_MTK' has no member named 'Lattitude'
debug:175: error: 'class AP_GPS_MTK' has no member named 'Longitude'
debug:177: error: 'class AP_GPS_MTK' has no member named 'Altitude'
debug:179: error: 'class AP_GPS_MTK' has no member named 'Ground_Speed'
debug:181: error: 'class AP_GPS_MTK' has no member named 'Ground_Course'
debug:184: error: 'class AP_GPS_MTK' has no member named 'NumSats'
debug:186: error: 'class AP_GPS_MTK' has no member named 'Fix'
debug:188: error: 'class AP_GPS_MTK' has no member named 'Time'
i would say you need to update to the new gps librarys
and change the debug subsustem to 0 which im asumming is 4 atm
compiling the .zip downloaded apm 101 with GPS MTK gets me :

ArduPilotMega_1_0.cpp: In function 'void update_GPS()':
ArduPilotMega_1_0:622: error: 'class GPS_MTK_Class' has no member named 'Speed_3d'
Please use the latest files in the SVN, or wait for us to release the next public release zip file at the end of the month. Libraries are changing fast--you can't combine the old zip with latest libraries.
also to answer part 2.

you need to set the GPS to IMU and ground station to 3, once you have done that you need to modify the GPS library AP_GPS to include the imu header file.... which for some reason doesn't
Ive been running that latest build on xplanes for a bit now, and seem to come across a bug when flying due north, need to investegate further.
and step 3.

ive written a program that download the log data and converts the GPS part into a google earth KML have a look here http://www.diydrones.com/profiles/blogs/apm-mission-planner-now

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