Cleanflight aka Multiwii port to STM32 F10x and F30x

User avatar
tungsten2k
Posts: 62
Joined: Sat Jun 21, 2014 10:49 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by tungsten2k »

dominicclifton wrote:Thanks for the feedback Pierre, can you raise an issue on the Cleanflight issue list? I'll look into it. It's probably broken in baseflight too since it's an area of code that I haven't touched.
[/quote][/quote]
That's interesting, as the OSDSW worked for me in Baseflight (MWOSD 1.1) and does not work in Cleanflight (zero HW changes). I added my experience with Pierre's on the Issue tracker on the Cleanflight Github repo.

-=dave
Last edited by tungsten2k on Tue Jul 29, 2014 2:50 pm, edited 2 times in total.

User avatar
tungsten2k
Posts: 62
Joined: Sat Jun 21, 2014 10:49 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by tungsten2k »

nebbian wrote:Is the documentation for Cleanflight up to date?


It's not really kept up to date. I ran into the same problem with the Spektrum sat configuration (see my earlier post).

-=dave

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

timecop wrote:so you're an unemployed java developer? Good, your contributions wouldn't be accepted into baseflight anyway.


STFU troll.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

tungsten2k wrote:
nebbian wrote:Is the documentation for Cleanflight up to date?


It's not really kept up to date. I ran into the same problem with the Spektrum sat configuration (see my earlier post).

-=dave



Please raise issue in the issue tracker on git hub if you see anything that needs fixing.

With documentation you can just fork the project and navigate to the file and click edit, make the changes and then create a pull request and i'll get the corrections/additions merged in asap.

it's quite the task getting the documentation up to date. a better solution is probably to update the UI and communication/configuration protocol which ideally would require less documentation than obscure CLI commands.

nebbian
Posts: 67
Joined: Mon Jul 21, 2014 6:54 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by nebbian »

Deleted
Last edited by nebbian on Wed Jul 30, 2014 1:55 am, edited 1 time in total.

nebbian
Posts: 67
Joined: Mon Jul 21, 2014 6:54 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by nebbian »

dominicclifton wrote:
nebbian wrote:Is the documentation for Cleanflight up to date?


Please raise issue in the issue tracker on git hub if you see anything that needs fixing.

With documentation you can just fork the project and navigate to the file and click edit, make the changes and then create a pull request and i'll get the corrections/additions merged in asap.

it's quite the task getting the documentation up to date. a better solution is probably to update the UI and communication/configuration protocol which ideally would require less documentation than obscure CLI commands.


Thanks Dominic.

I had already forked the project, but when I go to edit the wiki for my fork it doesn't have the original documentation there:
https://github.com/nebbian/cleanflight/wiki

I guess the main issue is that the link to the CLI variables on this page:
https://github.com/hydra/cleanflight/wiki

links to this page:
https://github.com/multiwii/baseflight/ ... -Variables

not this page:
https://github.com/hydra/cleanflight/wiki/CLI-Variables

which still doesn't talk about the third PID controller :D

I'll see if I can figure out the issue tracker on github.

NoShoes
Posts: 5
Joined: Thu Feb 27, 2014 6:55 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by NoShoes »

I think including one-shot would attract a huge amount of people to clean flight. Ronco (felix) has already posted the sample code to do it, im not sure how much work would be involved.

brm
Posts: 287
Joined: Mon Jun 25, 2012 12:00 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by brm »

NoShoes wrote:I think including one-shot would attract a huge amount of people to clean flight. Ronco (felix) has already posted the sample code to do it, im not sure how much work would be involved.


you are riding a dead horse.
you didn't notice it?

3rdeyepro
Posts: 5
Joined: Sat Nov 17, 2012 2:03 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by 3rdeyepro »

Forgive the noob question, what is the purpose of RSSI into the flight controller if the Taranis + D4R-II already give telemetry feedback on their own?

strips
Posts: 163
Joined: Thu Apr 03, 2014 1:28 pm

Sv: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by strips »

3rdeyepro wrote:Forgive the noob question, what is the purpose of RSSI into the flight controller if the Taranis + D4R-II already give telemetry feedback on their own?

To feed OSD with RSSI. This way the FC can supply all info to OSD.

3rdeyepro
Posts: 5
Joined: Sat Nov 17, 2012 2:03 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by 3rdeyepro »

strips wrote:
3rdeyepro wrote:Forgive the noob question, what is the purpose of RSSI into the flight controller if the Taranis + D4R-II already give telemetry feedback on their own?

To feed OSD with RSSI. This way the FC can supply all info to OSD.


That makes sense

User avatar
tungsten2k
Posts: 62
Joined: Sat Jun 21, 2014 10:49 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by tungsten2k »

Dominic- Have you tried any OSD that supports virtual amp gauge while running on your implementation of softserial ? I'm considering moving MWOSD off the main UART onto softserial to free it up for other things. Just curious to know your thoughts. I'm not familiar with how much data the mavlink/osd actually is pushing down to a minimosd.

Thanks,

-=dave

User avatar
Crashpilot1000
Posts: 631
Joined: Tue Apr 03, 2012 7:38 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Crashpilot1000 »

However Frsky sumsignal patch (for 18ms frames with 8 channels) is online. Instead of implementing another cli value the problem is autodetected and the fix applied if necessary. Tested with Frsky D8R-II and Frsky D4FR. Works. https://github.com/Crashpilot1000/TestC ... cba7fe65ad maybe BF is interested as well. Just wondering how that https://github.com/multiwii/baseflight/ ... pwm.c#L269 is supposed to detect a dead RX/broken cable when the calling IRQ handler https://github.com/multiwii/baseflight/ ... pwm.c#L284 isn't even called anymore (because RX is dead and will not produce a flank anymore). Looks at least strange to me...
Cheers Rob

nebbian
Posts: 67
Joined: Mon Jul 21, 2014 6:54 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by nebbian »

Hey Dominic,

I've created my first pull request for Cleanflight :D

However there is a conflict on the the hex file. Should that not be part of the commit? I wasn't sure, because if you merge in the source then suddenly the hex file is out of date. But as this pull request shows, updating it makes conflicts. I'm not sure how you handle this sort of thing.

scrat
Posts: 925
Joined: Mon Oct 15, 2012 9:47 am
Location: Slovenia

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by scrat »

brm wrote:
dominicclifton wrote:I'm about to fly Cleanflight on my CC3D board - with WS2812 led's and updated PPM code:
https://www.youtube.com/watch?v=EViw4lBRa94


ups, that explains some nasty situations i had when testing new functionality.
up to now i didn't trust frsky to much ... as i run occasionally into problems.

thanks for showing the problem!


Just upgrade fw on d4r-ii with 27ms and you will not have any problems. I havedone this on my two d4r-ii rx's and it's all good.

shadowjig
Posts: 16
Joined: Thu Jun 26, 2014 12:22 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by shadowjig »

scrat wrote:
brm wrote:
dominicclifton wrote:I'm about to fly Cleanflight on my CC3D board - with WS2812 led's and updated PPM code:
https://www.youtube.com/watch?v=EViw4lBRa94


ups, that explains some nasty situations i had when testing new functionality.
up to now i didn't trust frsky to much ... as i run occasionally into problems.

thanks for showing the problem!


Just upgrade fw on d4r-ii with 27ms and you will not have any problems. I havedone this on my two d4r-ii rx's and it's all good.

Agreed, the new firmware adds a little latency.

27ms - 18ms = 9ms added when upgrading the firmware.

But in my opinion, unless you are flying high precision 3D aircraft you wouldn't notice the added latency. And upgrading provides piece of mind knowing your MR will not fall out of the sky because it couldn't detect the CPPM signal.

User avatar
Crashpilot1000
Posts: 631
Joined: Tue Apr 03, 2012 7:38 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Crashpilot1000 »

As far as I know there is no easy way to flash the Frsky D4FR. Those possible sync loss situations are rare (but can be always provoked in test environment), so why not fix it in software if it is possible and keep your hardware (and 50Hz) ? From my testing the fix works a 100% (aka always worked during testing) but theoretically the only guaranteed real safe way is to go with a sync gap of 3ms+, so flash to 27ms FW for maximal safety (if you can). Another possible workaround is to limit the 4 Aux channels range from "high" to "mid" that is as good as flashing the 27ms FW (with obvious loss of one state on the aux). The math is simple, you need at least 3ms gap between the frames for a secure sync detection in BF. So if a channel is EXACTLY 2ms (wich it isn't in reality - potentiometers - temp drift etc) you end up with 8ch x 2ms = 16ms + 3ms gap = 19ms but Frsky does just 18ms so you have to "do" 1ms on the channels with some safety margin. Best way is to truncate the aux channels.
Will polish it a little for BF.
Cheers Rob.

shadowjig
Posts: 16
Joined: Thu Jun 26, 2014 12:22 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by shadowjig »

Crashpilot1000 wrote:As far as I know there is no easy way to flash the Frsky D4FR. Those possible sync loss situations are rare (but can be always provoked in test environment), so why not fix it in software if it is possible and keep your hardware (and 50Hz) ? From my testing the fix works a 100% (aka always worked during testing) but theoretically the only guaranteed real safe way is to go with a sync gap of 3ms+, so flash to 27ms FW for maximal safety (if you can). Another possible workaround is to limit the 4 Aux channels range from "high" to "mid" that is as good as flashing the 27ms FW (with obvious loss of one state on the aux). The math is simple, you need at least 3ms gap between the frames for a secure sync detection in BF. So if a channel is EXACTLY 2ms (wich it isn't in reality - potentiometers - temp drift etc) you end up with 8ch x 2ms = 16ms + 3ms gap = 19ms but Frsky does just 18ms so you have to "do" 1ms on the channels with some safety margin. Best way is to truncate the aux channels.
Will polish it a little for BF.
Cheers Rob.

I'm speculating here but there two issues to solving this in software are, find the start and the end of the CPPM signal. If you know the signal is 27ms then you can find the end (by using the start).

But how do you find the start if the entire signal "looks" the same. It would be a crap shoot.

Besides clock signals are not shared between FC's and RX's so the start of the signal could drift and the FC needs to constantly find the start. Again a crap shoot.

Solution = buy a D4R-II and flash it. Or buy the X4R that has Sbus (but not CPPM). Or course your FC would need to support Sbus.

User avatar
Crashpilot1000
Posts: 631
Joined: Tue Apr 03, 2012 7:38 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Crashpilot1000 »

Basically you are right, however there are some circumstances that make it actually possible and besides buying a new RX (if it's not flashable) you can reduce the Auxchannelrange with the same result of an always detectable sync gap (like described).
The main fact that makes it possible to fix it in software is that those possible loss of sync / gap too small - situations are rare and brief. So after 8 channel read out the next one must be channel 1 no matter what the gap is. The 18ms fametime is highly accurate. Even provoking the situation with the fix over minutes showed no sync loss (so the crap shots were not that crappy..). Let's say you have some EMI corrupting the PPSUM signal you have a good chance of loosing the channelorder (even with 27ms FW). In such situations you will most probably reduce the full throttle situation and wiggle on the sticks so sync is back. I once had a DJI naza setup that was actually affected by RC-jitter and a little ferrite (http://www.conrad.de/ce/de/product/5021 ... 9?ref=list) on the rx cable fixed that (I also twisted it).
Cheers Rob

Off Frsky - topic note:
You can also double buffer the complete ppsum readout and do some average frametime statistics on powerup (after warming up for some ms) and watch the incoming frametimes if they vary exceeding a margin of something like 10% (or so) discard the incoming buffer, stick to the old ones, wait for next sync. If those error situations exceed a certain limit in a row trigger a FS or re-evaluate the initial frametime or, or, or ... predictive filtering on stickinputs... or, or .........

danhouldsworth
Posts: 19
Joined: Fri Aug 01, 2014 2:06 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by danhouldsworth »

Hoping someone can confirm this for me before I try the build for the first time...

Is TARGET = NAZE referring to the AcroNaze32 board (http://www.radioc.co.uk/Acro-Naze-32-fl ... p/3009.htm),
and TARGET = NAZE32PRO referring to the NazePro32 board (http://www.radioc.co.uk/Naze-32-funfly- ... p/3010.htm) ie the full version with Baro & Magnometer

These boards seem to have so many conflicting names I just want to be sure what I'm building on, as I have a few of the lite versions (without the baro & magnometer)

danhouldsworth
Posts: 19
Joined: Fri Aug 01, 2014 2:06 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by danhouldsworth »

ps. Dominic - I noticed in your code the beerware licence, and that you're based in London.
I work near here (http://thecraftbeerco.com/pubs/clerkenwell/) and will happily buy you a beer or two from their extensive range the next time you're in the area...

danhouldsworth
Posts: 19
Joined: Fri Aug 01, 2014 2:06 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by danhouldsworth »

While I'm thinking of questions -
i) is it on your roadmap to support OpenPilot Revolution?
ii) do any of the current target boards reliably support Spektrum satellite? [From my experience Pixhawk does, NanoWii does, OP Revo claims to but many including me can't get it to work]

User avatar
tungsten2k
Posts: 62
Joined: Sat Jun 21, 2014 10:49 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by tungsten2k »

danhouldsworth wrote:While I'm thinking of questions -
i) is it on your roadmap to support OpenPilot Revolution?
ii) do any of the current target boards reliably support Spektrum satellite? [From my experience Pixhawk does, NanoWii does, OP Revo claims to but many including me can't get it to work]

ii) Naze32/Pro, Flip32/+

-=dave

nebbian
Posts: 67
Joined: Mon Jul 21, 2014 6:54 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by nebbian »

Has anyone here gotten the failsafe feature to work in CleanFlight?

I just tried enabling it via the CLI, and it keeps beeping at me, even after a full power cycle. When I try to arm, the green light flashes briefly and then turns off.

When I disable the failsafe feature, the beeping stops straightaway.

Here is my receiver test page:
Receiver screen
Receiver screen


Any ideas?

Edit: Forgot to mention that I'm using a normal PWM setup, with 6 PWM lines going to the naze. I've just spent a good hour or two combing through the code, it really looks like this hasn't been set up properly for PWM receivers (whereas it might work for PPM), is this right?

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

Hi crashpilot. Can you show me the code that you were using for the D4FR. I was aware of the maxing out the channels and have always just updated my D4R-II but if there is a solution for those with older RX's that would be great. If I remember rightly the updated PPM code will still have the problem with old RX's. The current solution is either to flash the old RX or configure the transmitter to send only 6 channels.

Sorry for late reply, for some reason I don't get reply notifications to this thread, i will check my forum settings.

With regards to the AUX5-8. If a frame wasn't correctly parsed due to mis-reading/interference/etc then even when only using 8 channels, the FC would think that suddenly you had more channels and would set the other aux channels.

The new PPM code locks-on to the channel count and waits for a few frames to appear and then always uses the channel count as found in those frames. It is a much safer implementation.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

nebbian wrote:Is the documentation for Cleanflight up to date?
Am I looking in the right place for the cleanflight documentation?


That bit needs updating. I will do it now!

EDIT: Done - the wiki references the main documentation that the first post in this thread references too.

https://github.com/hydra/cleanflight/wiki

https://github.com/hydra/cleanflight/tree/master/docs

The great thing about having the documentation with the code is that documentation can be submitted at the same time as pull requests - and ideally always should be when appropriate. It also allows you to look at the documentation for a given binary rather than always the latest if you use the history features of git/github.
Last edited by dominicclifton on Sun Aug 03, 2014 1:08 am, edited 1 time in total.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

Crashpilot1000 wrote:However Frsky sumsignal patch (for 18ms frames with 8 channels) is online. Instead of implementing another cli value the problem is autodetected and the fix applied if necessary. Tested with Frsky D8R-II and Frsky D4FR. Works. https://github.com/Crashpilot1000/TestC ... cba7fe65ad maybe BF is interested as well. Just wondering how that https://github.com/multiwii/baseflight/ ... pwm.c#L269 is supposed to detect a dead RX/broken cable when the calling IRQ handler https://github.com/multiwii/baseflight/ ... pwm.c#L284 isn't even called anymore (because RX is dead and will not produce a flank anymore). Looks at least strange to me...
Cheers Rob


Hi Rob,

I will merge that code in when i get a chance. The approach looks ok at first glance. Do you know if it's possible to downgrade a D4R-II receiver to verify it works? Got a link to the old firmware?

EDIT: I created issue #30 - https://github.com/hydra/cleanflight/issues/30

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

danhouldsworth wrote:Hoping someone can confirm this for me before I try the build for the first time...

Is TARGET = NAZE referring to the AcroNaze32 board (http://www.radioc.co.uk/Acro-Naze-32-fl ... p/3009.htm),
and TARGET = NAZE32PRO referring to the NazePro32 board (http://www.radioc.co.uk/Naze-32-funfly- ... p/3010.htm) ie the full version with Baro & Magnometer

These boards seem to have so many conflicting names I just want to be sure what I'm building on, as I have a few of the lite versions (without the baro & magnometer)


No.

NAZE target = AcroNaze and Naze32 - both STMF103 based
Naze32Pro is a new board you can get from timecop if you specifically ask for it, not listed on his shop yet - It's STM32F303 based with SPI sensors and 3+ hardware serial ports.

Naze32Pro support is incomplete currently. I've been working on other aspects of the codebase in preparation but plan to resume work on it soon. TreyM has working naze32pro code here: https://bitbucket.org/treymarc/baseflight/src

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

nebbian wrote:Has anyone here gotten the failsafe feature to work in CleanFlight?


Yes it works with me when using PPM mode. I haven't tested PWM mode recently so maybe there's an issue with it.

I raised https://github.com/hydra/cleanflight/issues/31 for this. Please add any further details there.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

I flight tested the current codebase using 18 batteries today on 4 quads and I'm happy to report it's flying great on these boards:

Naze Rev 4
Naze Rev 5
Flip32+ (Rev 5).
CC3D - Yes, CC3D :D :o :o :o

The main feature that now works really well is alt-hold - at least it never worked properly without drifiting - lux's new improvements made a massive difference and i'm now able to flip a switch that enables horizon and alt-hold and fly around at the same altitude within about +/- .5m - and it was REALLY windy today too!

Sonar alt-hold has been ported from baseflight, I have a sonar sensor that should work and will re-fit it to one of my quads and test it out soon. I would like feedback on this if you are able to test it.

Backup your config and restore it + recalibrate after flashing.

There's some improvements to the CLI.

The

Code: Select all

dump 
command now splits the output into sections so you can easily see what is a profile setting and what is not.

you can also type in

Code: Select all

dump master


or

Code: Select all

dump profile


For other changes please see the git commit history, here: https://github.com/hydra/cleanflight/commits/master

gerardo85
Posts: 8
Joined: Sun Aug 03, 2014 6:33 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by gerardo85 »

I'm really new to this and might make a fool of myself here. Firstly I have a naze32 and a naze acro. Wanted Gps for my hex with the naze32 then came across Harakiri. Couldn't seem to really get much info on how to flash it or to get it running. Then came across cleanflight and I have to say, it was really a breeze to get it loaded. But when i went to cli typed "set gps_type" there was no entry. Am I missing something? I remember I had to set to Type 1 for ublox gps unit. Also by any chance is there a manual to read up?

timecop
Posts: 1880
Joined: Fri Sep 02, 2011 4:48 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by timecop »

gerardo85 wrote:But when i went to cli typed "set gps_type" there was no entry. Am I missing something? I remember I had to set to Type 1 for ublox gps unit. Also by any chance is there a manual to read up?


Yes, you're missing something.

You're missing the fact that this is unsupported firmware that is developed for amusement of a single person (jobless Dominic Clifton) and not fit for end-users. You should probably go back to baseflight, at least you'll have combined userbase to answer your questions and you could do things like googling to find solutions.

And lastly, if you wanted GPS, why are you even wasting time with this hobby junk? Just go straight to DJI Naza Lite V2+ Vision A2M and you'll be hovering with GPS in an instant.

gerardo85
Posts: 8
Joined: Sun Aug 03, 2014 6:33 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by gerardo85 »

That is why I have both the naze32 and the acro. The acro is in my blackout and the full naze is in my hex. The full naze was initially in my blackout, I liked it so i went ahead to get an acro to swap places with it. Didn't need gps in the blackout. The board i had in my hex was a hobbyking knockoff of the cirus board running megapirate. It one day just screwed up and it all went down. Everything survived other then the arms so since I had everything, I figured it wouldn't hurt to give the naze a try on it. At least I have much more trust in it then the hobbyking board. As far as possible i avoid getting a naza. The whole reason why I got into this was because i refused to buy a phantom. I'll go through a Vector, apm or pixahawk before I look at a naza.

subaru4wd
Posts: 316
Joined: Sat Dec 08, 2012 2:16 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by subaru4wd »

gerardo85 wrote:I'm really new to this and might make a fool of myself here. Firstly I have a naze32 and a naze acro. Wanted Gps for my hex with the naze32 then came across Harakiri. Couldn't seem to really get much info on how to flash it or to get it running. Then came across cleanflight and I have to say, it was really a breeze to get it loaded. But when i went to cli typed "set gps_type" there was no entry. Am I missing something? I remember I had to set to Type 1 for ublox gps unit. Also by any chance is there a manual to read up?


The info your looking for can be found here in the Cleanflight Wiki:
https://github.com/hydra/cleanflight/bl ... ocs/Gps.md

GPS_TYPE has been renamed to GPS_PROVIDER

gerardo85
Posts: 8
Joined: Sun Aug 03, 2014 6:33 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by gerardo85 »

subaru4wd wrote:The info your looking for can be found here in the Cleanflight Wiki:
https://github.com/hydra/cleanflight/bl ... ocs/Gps.md

GPS_TYPE has been renamed to GPS_PROVIDER


Thanks.. I'll give it a try in the next few days. Haven't gone into fixing up my hex ever since it broke an arm.

User avatar
stronnag
Posts: 114
Joined: Thu Oct 24, 2013 9:32 pm
Location: New Forest, England
Contact:

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by stronnag »

dominicclifton wrote:I flight tested the current codebase using 18 batteries today on 4 quads and I'm happy to report it's flying great on these boards:
....
CC3D - Yes, CC3D :D :o :o :o


Dominic,

Do you expect that all the serial options are working for CC3D (in particular serial rx for Spek Sat)? I don't have a CC3d yet, just considering options due to the difficulties of obtaining other boards.

Also, after a git pull / make, for the NAZE32 target, I get a linker failure:

Code: Select all

arm-none-eabi-gcc: error: nano.specs: No such file or directory
Makefile:402: recipe for target 'obj/main/cleanflight_NAZE.elf' failed

Arch Linux, arm-none-eabi-gcc 4.9.1. Is this file meant to be part of gcc or is it missing from github? Edit: It's a known Arch packaging issue ...

Anyway, thanks for your considerable efforts; I'm looking forward to flying this if the flip32+ ever arrives.

gerardo85
Posts: 8
Joined: Sun Aug 03, 2014 6:33 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by gerardo85 »

Hi Dominic,

Not sure if this has been touched on before, but I found some differences between baseflight and cleanflight in the receiver connections regarding gps. As per the manual of the Naze32, connections 3 and 4 are used for the gps. Hooked them up, got Cleanflight to show gps is connected but this is where the difference comes in. For baseflight once this is done, connections 5 and 6 becomes throttle and yaw as stated in the manual. But for cleanflight it doesn't. When I move my stick it moves Aux1 and Aux2. Thought I bring this up if no one has. Also are there any differences in gps performance between baseflight and cleanflight? Couldn't seem to get harakiri working for me at least for now. The chrome gui is a big plus in my opinion.

nebbian
Posts: 67
Joined: Mon Jul 21, 2014 6:54 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by nebbian »

dominicclifton wrote:Sonar alt-hold has been ported from baseflight, I have a sonar sensor that should work and will re-fit it to one of my quads and test it out soon. I would like feedback on this if you are able to test it.


I've installed an HC-SR04 on my mini, and changed Sonar_init() to initialize using the pwm pins 5 and 6.

It seems to sound like it's doing something, hard to tell as it's ultra high frequency but I think I can just hear it buzzing away. However it's not appearing in Baseflight configurator or Cleanflight configurator, that is, the button isn't turning green. I've double checked that Trig goes to M5, and Echo goes to M6.

I look forward to hearing how your testing goes.

Edit: It seems that when I turn on the sonar feature, it is turned off again when I go back into the CLI, unlike any of the other features that I tried.

Y.Mita
Posts: 46
Joined: Thu Sep 15, 2011 11:25 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Y.Mita »

Please somebody help me!
I'm using NAZE32 acro on Gemini.
Today I flashed cleanflight because I want to use PPM RX(TFR4-B) with minimOSD and GPS and RSSI. Short CH3 and CH4 on TFR4-B, and connect CH1 to channel1 on NAZE32, CH2 to channel5 or channel8 on NAZE32.

I can't do it on baseflight.
PPM, OSD and GPS ok, but no RSSI input.

I try it on cleanflight, but it seems can't do on cleanflight, too.
PPM, OSD and GPS ok, but no RSSI input.

I tried it on channel5 and channel8 but both no input.

Some settings pick up
feature RX_PPM
feature GPS
set rssi_channel = 8
set serial_port_1_scenario = 1
set serial_port_2_scenario = 2
set serial_port_3_scenario = 0
set serial_port_4_scenario = 0
set serialrx_provider = 0

May be my configuration miss, or really can't do this?
Please advice me and help me!

patrik
Posts: 2
Joined: Sun Sep 01, 2013 9:51 am

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by patrik »

Y.Mita wrote:Please somebody help me!
I'm using NAZE32 acro on Gemini.
Today I flashed cleanflight because I want to use PPM RX(TFR4-B) with minimOSD and GPS and RSSI. Short CH3 and CH4 on TFR4-B, and connect CH1 to channel1 on NAZE32, CH2 to channel5 or channel8 on NAZE32.


Have you enabled feature RX_PARALLEL_PWM ?

https://github.com/hydra/cleanflight/bl ... cs/Rssi.md

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

ahh right, don't set rssi_channel = 8

that's for when you're sending the RSSI signal via Parallel PWM or PPM.

Enable feature RX_PPM and RSSI_ADC and connect RSSI output from FrSky RX to CH2 input.

documentation is here:

https://github.com/hydra/cleanflight/bl ... cs/Rssi.md

If it's out of date please fork the project and either edit the docs directly via the github web interface or submit a pull request in the usual github manner.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

stronnag wrote:Do you expect that all the serial options are working for CC3D (in particular serial rx for Spek Sat)? I don't have a CC3d yet, just considering options due to the difficulties of obtaining other boards.


not yet, i was working on this a bit this evening, cc3d uses usart3 and has an onboard inverter for sbus on usart1 so the code needs a bit of reworking to support sbus on usart1 currently.

stronnag wrote:

Code: Select all

arm-none-eabi-gcc: error: nano.specs: No such file or directory
Makefile:402: recipe for target 'obj/main/cleanflight_NAZE.elf' failed



check your version of gcc, i'm using - i need to upgrade to the latest version (q2)

Code: Select all

arm-none-eabi-gcc.exe (GNU Tools for ARM Embedded Processors) 4.8.3 20140228 (release) [ARM/embedded-4_8-branch revision 208322]
Copyright (C) 2013 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


from here:

https://launchpad.net/gcc-arm-embedded/+download

you've just reminded me i need to be using 2014 q2, i will do that asap. already tested q2 release on my macbook but my windows main dev box is using the q1 release. both work for me.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

gerardo85 wrote:Hi Dominic,

Not sure if this has been touched on before, but I found some differences between baseflight and cleanflight in the receiver connections regarding gps. As per the manual of the Naze32, connections 3 and 4 are used for the gps. Hooked them up, got Cleanflight to show gps is connected but this is where the difference comes in. For baseflight once this is done, connections 5 and 6 becomes throttle and yaw as stated in the manual. But for cleanflight it doesn't. When I move my stick it moves Aux1 and Aux2. Thought I bring this up if no one has. Also are there any differences in gps performance between baseflight and cleanflight? Couldn't seem to get harakiri working for me at least for now. The chrome gui is a big plus in my opinion.


please can you create an new issue for this here:

https://github.com/hydra/cleanflight/issues

I'll take a look into it, i now have a spare rx/tx combo which should make my testing life easier.

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

nebbian wrote:I've installed an HC-SR04 on my mini, and changed Sonar_init() to initialize using the pwm pins 5 and 6.

It seems to sound like it's doing something, hard to tell as it's ultra high frequency but I think I can just hear it buzzing away. However it's not appearing in Baseflight configurator or Cleanflight configurator, that is, the button isn't turning green. I've double checked that Trig goes to M5, and Echo goes to M6.

I look forward to hearing how your testing goes.

Edit: It seems that when I turn on the sonar feature, it is turned off again when I go back into the CLI, unlike any of the other features that I tried.


I've created an issue for this, i will dig out my sonar sensor and hook it up asap.

https://github.com/hydra/cleanflight/issues/35

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

in other news, i new binary for Naze/Flip32+ has just been posted which fixes the current sensor support. an important line was missed when merging the code from baseflight. lysie and i have now verified it to be working.

Y.Mita
Posts: 46
Joined: Thu Sep 15, 2011 11:25 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Y.Mita »

Mr. patrik, thanks your advice!

patrik wrote:
Y.Mita wrote:Please somebody help me!
I'm using NAZE32 acro on Gemini.
Today I flashed cleanflight because I want to use PPM RX(TFR4-B) with minimOSD and GPS and RSSI. Short CH3 and CH4 on TFR4-B, and connect CH1 to channel1 on NAZE32, CH2 to channel5 or channel8 on NAZE32.


Have you enabled feature RX_PARALLEL_PWM ?

I tried this, but it seems conflict against RX_PWM. If I set RX_PWM, can't set RX_PARALLEL_PWM.

Mr. dominicclifton, thanks your advice!
dominicclifton wrote:ahh right, don't set rssi_channel = 8

that's for when you're sending the RSSI signal via Parallel PWM or PPM.

Enable feature RX_PPM and RSSI_ADC and connect RSSI output from FrSky RX to CH2 input.

OK, I try this.
But when short CH3 and CH4 of TFR4-B, RSSI comes out TFR4-B's CH2 with PWM, not analog voltage.
Is it possible measure PWM with NAZE's CH2? (maybe I'm better to try and ask again!)

dominicclifton
Posts: 202
Joined: Tue Feb 05, 2013 10:28 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by dominicclifton »

basically the PWM signal that comes out can be converted to a smooth analog signal with some additional components - there are some example circuits on the net, however connecting up a PWM signal to an analog in will just result in slightly fluctuating readings which is why the implementation smooths the readings out over time. the faster the pwm rate the less noticable this is. one thing to check is the output of the PWM signal should be a 3.3v PWM or Analog output since there is no voltage divider or adjustment on CH2 unless you add that circuit and or code yourself. CH2 might be 5v tolerant, can't remember off the top of my head but it's likely since ch1-8 are used as PWM inputs from 5v RX's.

Y.Mita
Posts: 46
Joined: Thu Sep 15, 2011 11:25 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by Y.Mita »

dominicclifton wrote:basically the PWM signal that comes out can be converted to a smooth analog signal with some additional components - there are some example circuits on the net, however connecting up a PWM signal to an analog in will just result in slightly fluctuating readings which is why the implementation smooths the readings out over time. the faster the pwm rate the less noticable this is. one thing to check is the output of the PWM signal should be a 3.3v PWM or Analog output since there is no voltage divider or adjustment on CH2 unless you add that circuit and or code yourself. CH2 might be 5v tolerant, can't remember off the top of my head but it's likely since ch1-8 are used as PWM inputs from 5v RX's.

Mr.dominicclifton, Thank you very much!
Yes, PWM-RSSI into ADC(CH2) seems "slightly fluctuating readings".
I will try to add my special code for PPM with PWM-RSSI.

scrat
Posts: 925
Joined: Mon Oct 15, 2012 9:47 am
Location: Slovenia

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by scrat »

Crashpilot1000 wrote:As far as I know there is no easy way to flash the Frsky D4FR.
Cheers Rob.


As far as I know FrSky D4FR does not have any sync problems.

brm
Posts: 287
Joined: Mon Jun 25, 2012 12:00 pm

Re: Cleanflight aka Multiwii port to STM32 F10x and F30x

Post by brm »

after updating cleanfligth i did run into linking issues:

Code: Select all

make 
arm-none-eabi-gcc -o obj/main/cleanflight_NAZE32PRO.elf obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o obj/main/NAZE32PRO/drivers/adc.o obj/main/NAZE32PRO/drivers/adc_stm32f30x.o obj/main/NAZE32PRO/drivers/bus_i2c_stm32f30x.o obj/main/NAZE32PRO/drivers/bus_spi.o obj/main/NAZE32PRO/drivers/gpio_stm32f30x.o obj/main/NAZE32PRO/drivers/light_led_stm32f30x.o obj/main/NAZE32PRO/drivers/light_ws2811strip.o obj/main/NAZE32PRO/drivers/light_ws2811strip_stm32f30x.o obj/main/NAZE32PRO/drivers/pwm_mapping.o obj/main/NAZE32PRO/drivers/pwm_output.o obj/main/NAZE32PRO/drivers/pwm_rx.o obj/main/NAZE32PRO/drivers/serial_uart.o obj/main/NAZE32PRO/drivers/serial_uart_stm32f30x.o obj/main/NAZE32PRO/drivers/serial_softserial.o obj/main/NAZE32PRO/drivers/serial_usb_vcp.o obj/main/NAZE32PRO/drivers/sound_beeper_stm32f30x.o obj/main/NAZE32PRO/drivers/system_stm32f30x.o obj/main/NAZE32PRO/drivers/timer.o obj/main/NAZE32PRO/vcp/hw_config.o obj/main/NAZE32PRO/vcp/stm32_it.o obj/main/NAZE32PRO/vcp/usb_desc.o obj/main/NAZE32PRO/vcp/usb_endp.o obj/main/NAZE32PRO/vcp/usb_istr.o obj/main/NAZE32PRO/vcp/usb_prop.o obj/main/NAZE32PRO/vcp/usb_pwr.o obj/main/NAZE32PRO/flight/autotune.o obj/main/NAZE32PRO/flight/navigation.o obj/main/NAZE32PRO/flight/gps_conversion.o obj/main/NAZE32PRO/io/gps.o obj/main/NAZE32PRO/io/ledstrip.o obj/main/NAZE32PRO/rx/sbus.o obj/main/NAZE32PRO/rx/sumd.o obj/main/NAZE32PRO/rx/spektrum.o obj/main/NAZE32PRO/telemetry/telemetry.o obj/main/NAZE32PRO/telemetry/frsky.o obj/main/NAZE32PRO/telemetry/hott.o obj/main/NAZE32PRO/telemetry/msp.o obj/main/NAZE32PRO/sensors/sonar.o obj/main/NAZE32PRO/sensors/barometer.o obj/main/NAZE32PRO/build_config.o obj/main/NAZE32PRO/system_stm32f30x.o obj/main/NAZE32PRO/config/config.o obj/main/NAZE32PRO/config/runtime_config.o obj/main/NAZE32PRO/common/maths.o obj/main/NAZE32PRO/common/printf.o obj/main/NAZE32PRO/common/typeconversion.o obj/main/NAZE32PRO/main.o obj/main/NAZE32PRO/mw.o obj/main/NAZE32PRO/flight/altitudehold.o obj/main/NAZE32PRO/flight/failsafe.o obj/main/NAZE32PRO/flight/flight.o obj/main/NAZE32PRO/flight/imu.o obj/main/NAZE32PRO/flight/mixer.o obj/main/NAZE32PRO/drivers/bus_i2c_soft.o obj/main/NAZE32PRO/drivers/serial.o obj/main/NAZE32PRO/drivers/sound_beeper.o obj/main/NAZE32PRO/drivers/system.o obj/main/NAZE32PRO/io/beeper.o obj/main/NAZE32PRO/io/rc_controls.o obj/main/NAZE32PRO/io/rc_curves.o obj/main/NAZE32PRO/io/serial.o obj/main/NAZE32PRO/io/serial_cli.o obj/main/NAZE32PRO/io/serial_msp.o obj/main/NAZE32PRO/io/statusindicator.o obj/main/NAZE32PRO/rx/rx.o obj/main/NAZE32PRO/rx/pwm.o obj/main/NAZE32PRO/rx/msp.o obj/main/NAZE32PRO/sensors/acceleration.o obj/main/NAZE32PRO/sensors/battery.o obj/main/NAZE32PRO/sensors/boardalignment.o obj/main/NAZE32PRO/sensors/compass.o obj/main/NAZE32PRO/sensors/gyro.o obj/main/NAZE32PRO/sensors/initialisation.o obj/main/NAZE32PRO/stm32f30x_gpio.o obj/main/NAZE32PRO/stm32f30x_rcc.o obj/main/NAZE32PRO/usb_core.o obj/main/NAZE32PRO/usb_init.o obj/main/NAZE32PRO/usb_int.o obj/main/NAZE32PRO/usb_mem.o obj/main/NAZE32PRO/usb_regs.o obj/main/NAZE32PRO/usb_sil.o obj/main/NAZE32PRO/stm32f30x_adc.o obj/main/NAZE32PRO/stm32f30x_comp.o obj/main/NAZE32PRO/stm32f30x_dac.o obj/main/NAZE32PRO/stm32f30x_dbgmcu.o obj/main/NAZE32PRO/stm32f30x_dma.o obj/main/NAZE32PRO/stm32f30x_exti.o obj/main/NAZE32PRO/stm32f30x_flash.o obj/main/NAZE32PRO/stm32f30x_hrtim.o obj/main/NAZE32PRO/stm32f30x_i2c.o obj/main/NAZE32PRO/stm32f30x_iwdg.o obj/main/NAZE32PRO/stm32f30x_misc.o obj/main/NAZE32PRO/stm32f30x_opamp.o obj/main/NAZE32PRO/stm32f30x_pwr.o obj/main/NAZE32PRO/stm32f30x_rtc.o obj/main/NAZE32PRO/stm32f30x_spi.o obj/main/NAZE32PRO/stm32f30x_syscfg.o obj/main/NAZE32PRO/stm32f30x_tim.o obj/main/NAZE32PRO/stm32f30x_usart.o obj/main/NAZE32PRO/stm32f30x_wwdg.o -lm -nostartfiles --specs=nano.specs -lc -lnosys -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion -flto -fuse-linker-plugin -Os -ggdb3 -static -Wl,-gc-sections,-Map,.//obj/main/cleanflight_NAZE32PRO.map -T.//stm32_flash_f303.ld
`NMI_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`HardFault_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/main.o (symbol from plugin)
`MemManage_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`BusFault_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`UsageFault_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`SVC_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`DebugMon_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`PendSV_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`SysTick_Handler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/system.o (symbol from plugin)
`DMA1_Channel3_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/light_ws2811strip_stm32f30x.o (symbol from plugin)
`DMA1_Channel4_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/serial_uart_stm32f30x.o (symbol from plugin)
`DMA1_Channel7_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/serial_uart_stm32f30x.o (symbol from plugin)
`USB_LP_CAN1_RX0_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`TIM1_BRK_TIM15_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM1_UP_TIM16_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM1_TRG_COM_TIM17_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM1_CC_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM2_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM3_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`TIM4_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
`USART1_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/serial_uart_stm32f30x.o (symbol from plugin)
`USART2_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/serial_uart_stm32f30x.o (symbol from plugin)
`USBWakeUp_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/vcp/stm32_it.o (symbol from plugin)
`TIM8_CC_IRQHandler' referenced in section `.isr_vector' of obj/main/NAZE32PRO/startup_stm32f30x_md_gcc.o: defined in discarded section `.text' of obj/main/NAZE32PRO/drivers/timer.o (symbol from plugin)
collect2.exe: error: ld returned 1 exit status
make: *** [obj/main/cleanflight_NAZE32PRO.elf] Error 1


the older version did compile without issues.
i am using gcc from launchpad and the version is: 4.7.4

Post Reply