[Paparazzi-devel] rotorcraft firmware compile errors

[Chris]

I am trying to compile a rotorcraft firmware with the latest master 
(just updated and recompiled the code) but i get the following errors 
when i use  the below settings (telemetry file = default_rotorcraft.xml) :

<subsystem name="stabilization" type="float_quat"/>
<subsystem name="ahrs"        type="float_cmpl_rmat"/>

with the below settings it compiles fine

    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="stabilization" type="int_quat"/>

Btw after reading some benchmarks about the stm32f4 i think that using 
floats is much faster than
using integers, am i wrong?

Here is the output:

GCC version:
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.7.3 20130312 
(release) [ARM/embedded-4_7-branch revision 196615]

CC /home/hendrix/paparazzi/var/f550/ap/mcu.o
CC /home/hendrix/paparazzi/var/f550/ap/state.o
CC /home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o
firmwares/rotorcraft/main.c: In function 'telemetry_periodic':
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
firmwares/rotorcraft/main.c:212:1: error: invalid operands to binary >> 
(have 'float' and 'int')
make[1]: *** 
[/home/hendrix/paparazzi/var/f550/ap/firmwares/rotorcraft/main.o] Error 1
make[1]: Leaving directory `/home/hendrix/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/hendrix/paparazzi'


Here is the relevant airframe file

  <firmware name="rotorcraft">
    <target name="ap" board="krooz_sd"/>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="motor_mixing"/>
    <subsystem name="actuators"     type="pwm">
    </subsystem>

    <subsystem name="gps"           type="ublox"/>

    <subsystem name="imu"           type="krooz_sd">
      <define name="IMU_KROOZ_SD" value="1"/>
    </subsystem>

    <subsystem name="stabilization" type="float_quat"/>
    <subsystem name="ahrs"        type="float_cmpl_rmat"/>

<!--
    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="stabilization" type="int_quat"/>
-->
    <subsystem name="ins"           type="hff"/>

    <define name="NO_RC_THRUST_LIMIT"/>
    <define name="USE_RC_FP_BLOCK_SWITCHING"/>
    <define name="USE_ATTITUDE_REF" value="0"/>
    <define name="FAILSAFE_GROUND_DETECT" value="1"/>
    <define name="USE_GPS_ACC4R" value="1"/>
  </firmware>

<!--           Using Geo Mag module         -->
  <modules main_freq="512">
    <!--<load name="gps_ubx_ucenter.xml"/> -->
  </modules>