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Re: [Paparazzi-devel] ardrone2_raw + flight recorder

From: Ben Laurie
Subject: Re: [Paparazzi-devel] ardrone2_raw + flight recorder
Date: Mon, 30 Sep 2013 10:45:48 +0100

On 30 September 2013 09:37, Christophe De Wagter <address@hidden> wrote:
If you use a SIRF GPS you must manually configure it to binary sirf protocol and sufficiently high baudrate. (there is no gps_sirf_center module yet to do this automatically for you)

Like I said, I was using NMEA, and it wasn't working.

The altitude of -4000 is because the baro's used to give relative pressure before while digital sensors give absolute pressure (on ground 1023hPa at sea-level).  A separate branch is addressing this issue.

OK. Is it a problem to fly like that?


On Sun, Sep 29, 2013 at 2:08 PM, Ben Laurie <address@hidden> wrote:
Also, it thinks its altitude is -4157m, which is a little worrying :-)

On 29 September 2013 13:06, Ben Laurie <address@hidden> wrote:

On 29 September 2013 12:39, Ben Laurie <address@hidden> wrote:
If I switch the gps from ublox to either nmea or sirf, I get this compile error:

/home/ben/git-work/paparazzi/var/ardrone2_raw/ap/firmwares/rotorcraft/main.o: I\
n function `main':
main.c:(.text.startup+0x7c): undefined reference to `gps_ubx_ucenter_init'
main.c:(.text.startup+0x42f6): undefined reference to `gps_ubx_ucenter_init'
main.c:(.text.startup+0x62da): undefined reference to `gps_ubx_ucenter_periodic\

I presume this means I need to change more config somewhere - any hints?

So, actually, I can fix that, by removing this line:

    <load name="gps_ubx_ucenter.xml"/>

but ... I don't get GPS in the telemetry. For now, I left the flight recorder in its default mode, which is, I believe, NMEA and 4800 baud, so I set the gps to nmea and baud rate in  the makefile to B4800. I've confirmed that I can speak to it from sirf center with those settings.

Now what?

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