V2.22.12 ,bluepill not tracking after sethome

[zanefond]

Hi Eric
I want to compile the latest stable of antenna tracker with bluepill,but can not be done!
Documents/Arduino/libraries/SoftwareSerial/src/SoftwareSerial.cpp:45:30: fatal error: util/delay_basic.h: No such file or directory
#include <util/delay_basic.h>
^
compilation terminated.
exit status 1

Compilation error: exit status 1
my options in config.h is as following:
#define STM32F1xx
#define Telemetry_In 0
#define PROTOCOL 2 // Mavlink 2
#define BOX_GPS_BAUD 38400

[zanefond]

/Arduino15/packages/STMicroelectronics/tools/xpack-arm-none-eabi-gcc/13.2.1-1.1/bin/arm-none-eabi-g++ -mcpu=cortex-m3 -DVECT_TAB_OFFSET=0x0 -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -mthumb @/var/folders/cp/vswq7n5108q8dhf0120bnsgc0000gn/T/arduino_build_367807/sketch/build.opt -c -Os -DNDEBUG -w -std=gnu++17 -ffunction-sections -fdata-sections -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -fno-use-cxa-atexit "-I/Users/chenzhanfeng/Downloads/AntTracker-master 2/source/beta/v2.22.04/antTrack/aat/src/antTrack" -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/avr -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/stm32 -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/../../libraries/SrcWrapper/inc -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/../../libraries/SrcWrapper/inc/LL -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Drivers/STM32F1xx_HAL_Driver/Inc -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Drivers/STM32F1xx_HAL_Driver/Src -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/STM32F1xx -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/../../libraries/USBDevice/inc -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino/../../libraries/VirtIO/inc -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/OpenAMP -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/OpenAMP/open-amp/lib/include -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/OpenAMP/libmetal/lib/include -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Middlewares/OpenAMP/virtual_driver -w -x c++ -E -CC -DSTM32F1xx -DARDUINO=10819 -DARDUINO_BLUEPILL_F103CB -DARDUINO_ARCH_STM32 "-DBOARD_NAME="BLUEPILL_F103CB"" "-DVARIANT_H="variant_PILL_F103Cx.h"" -DSTM32F103xB -DHAL_UART_MODULE_ENABLED -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/tools/CMSIS/5.9.0/CMSIS/Core/Include/ -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Drivers/CMSIS/Device/ST/STM32F1xx/Include/ -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/system/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/ -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/tools/CMSIS/5.9.0/CMSIS/DSP/Include -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/tools/CMSIS/5.9.0/CMSIS/DSP/PrivateInclude -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/cores/arduino -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/variants/STM32F1xx/F103C8T_F103CB(T-U) -I/Users/chenzhanfeng/Documents/Arduino/libraries/PixhawkArduinoMAVLink-1.0.1/src -I/Users/chenzhanfeng/Documents/Arduino/libraries/MobaTools/src -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/libraries/Wire/src -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/libraries/EEPROM/src -I/Users/chenzhanfeng/Documents/Arduino/libraries/ezButton/src -I/Users/chenzhanfeng/Documents/Arduino/libraries/TinyGPSPlus/src -I/Users/chenzhanfeng/Documents/Arduino/libraries/terseCRSF/src -I/Users/chenzhanfeng/Library/Arduino15/packages/STMicroelectronics/hardware/stm32/2.8.1/libraries/SrcWrapper/src /var/folders/cp/vswq7n5108q8dhf0120bnsgc0000gn/T/arduino_build_367807/sketch/antTrack.ino.cpp -o /var/folders/cp/vswq7n5108q8dhf0120bnsgc0000gn/T/arduino_build_367807/preproc/ctags_target_for_gcc_minus_e.cpp
In file included from /Users/chenzhanfeng/Downloads/AntTracker-master 2/source/beta/v2.22.04/antTrack/aat/src/antTrack/config.h:191,
from /Users/chenzhanfeng/Downloads/AntTracker-master 2/source/beta/v2.22.04/antTrack/aat/src/antTrack/antTrack.ino:136:
/Users/chenzhanfeng/Documents/Arduino/libraries/MobaTools/src/MobaTools.h:175:6: error: #error Processor not supported
175 | #error Processor not supported
| ^~~~~
In file included from /Users/chenzhanfeng/Documents/Arduino/libraries/MobaTools/src/MobaTools.h:199:
/Users/chenzhanfeng/Documents/Arduino/libraries/MobaTools/src/utilities/MoToBase.h:29:6: error: #error "Processor not supported"
29 | #error "Processor not supported"
there is also a bug of mobatools,when compiling the bate version on bluepill

[zs6buj]

zanefond

My apologies for not replying sooner. I'm presently working on v2.22.04 up to support the stm32f103 again. The Servo and EEPROM libraries present different methods, so it is quite tedious, but I'm making progress.

[zanefond]

thank you for your great job! stmf103works very well on the stable version!

[zs6buj]

Thank you for the kind words. Can you please confirm which protocol you want to use

[zanefond]

mavlink is my option ,and the first issue has been solved after updated the libaray of softwareserial,which you uploarded three days ago.

[zs6buj]

ok, good. I'm making progress. I'll post here when it's working

[zanefond]

thank you！but just take your time! the stable version works well! and the mavlink is my only option.

[zs6buj]

I would appreciate if you could test v2.22.06 (or later) for me when you get a chance. All the new features are included for STM32F103, including CRSF support and OLED display, but since there were many changes it needs thorough testing. I am unfortunately unable to do field testing at present. I guess you know the Arduino IDE settings:

[zanefond]

yes! I have downloaded this version,and it compiled successfully. I will do the filed test in the coming holidays !
have a nice weekend ,thank you for developing such a wonderful project!

[zanefond]

"Hi Eric!
I've conducted a field test, but it's not working. When I set the home position, the telemetry stream is received by the AAT, but it just doesn't track. When I moved my plane around 5 meters away, and the situation LED work as the instruction. By the way, I'm confused about the compass type; it defines whether it's for ground use or air use."
my config is as below:
#define STM32_VARIANT 1 // STM32 Blue Pill F103C8 with 128k
#define MEDIUM_IN 1 // UART (Serial) Teensy, STM32F103, ESP8266 and ESP32
#define PROTOCOL 0 // AUTO detect protocol
#define HEADINGSOURCE 2 // 2=Flight Computer Compass
#define QMC5883L
#define Compass_Declination -4.55
//#define REVERSEAZIMUTH // my azimuth servo has a reversed action
//#define REVERSEELEVATION
#if defined STM32F1xx // my STM32 based tracker has different servos
const uint16_t minAzPWM = 525; // right (because mine is reversed)
const uint16_t maxAzPWM = 2475; // left
const uint16_t minElPWM = 525; // front
const uint16_t maxElPWM = 2475; // back

the pic is shown the hardware setup

[zs6buj]

zanefond "just doesn't track. When I moved my plane around 5 meters away"

A while back I added a minimum altitude (above field) before tracking starts, and this is proving to be a problem for many people while testing. in globals.h.

    uint8_t minDist = 4;  // dist from home where tracking starts AND
    uint8_t minAltAg = 4; // alt above ground where tracking starts

I have today changed this in v2.22.13 on GitHub.

uint8_t minDist = 4;  // dist from home where tracking starts AND
uint8_t minAltAg = 0; // alt above ground where tracking starts

If you still have a problem could you please post the monitor log

[zanefond]

thank you again for your great work! I will do the test as soon as possible! and give a feedback.

[zanefond]

Hello Eric !
My aat basing on bluepill works,after changed the minalt parameter. But the wrong direction when tacking.Anyway it works now! I will do more test when time is available. thank you for you kindly instruction! May you have a nice day!

[zs6buj]

It's good to hear that we are making progress.

For the wrong direction tracking, adjust these lines (lines 185,186) in your config.h

  // Sometimes the mechanical movement of a servo is reversed due to the orientation of its mounting
  // Its movement may be reversed here to compensate
  #define REVERSEAZIMUTH          // my azimuth servo has a reversed action
  //#define REVERSEELEVATION

[zanefond]

I've tried adjusting those two parameters multiple times but still can't track properly. It might be due to incorrect PWM values for my servo. I will keep trying, thank you for your help!