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Topic: Aircraft stabilisation - compiling error (Read 905 times) previous topic - next topic

chrisisaok

Hello all,

I'm new to all this so bear with me. I have attached the code which stabilises an RC plane. I keep getting the following error:


Exception in thread "Thread-6" java.lang.StackOverflowError
   at java.util.regex.Pattern$BitClass.isSatisfiedBy(Pattern.java:2927)
   at java.util.regex.Pattern$CharProperty$1.isSatisfiedBy(Pattern.java:3337)
   at java.util.regex.Pattern$8.isSatisfiedBy(Pattern.java:4783)
   at java.util.regex.Pattern$CharProperty.match(Pattern.java:3345)
   at java.util.regex.Pattern$Branch.match(Pattern.java:4114)

..........(carries on for hundreds of lines...)



Thanks for your help

Chris

PaulS

There is a problem currently happening with trying to download attached files. If your code is too large to post, I suspect that is contributing to the issue.

Try deleting most of your code, and adding it back bit by bit, to see which bit causes the problem. It's usually things like mismatched curly braces or quotes.

chrisisaok

#2
Jan 15, 2013, 09:26 pm Last Edit: Jan 15, 2013, 09:55 pm by chrisisaok Reason: 1
Cheers, here it is Pt1..

Code: [Select]
//Use the pot as the gain for all channels for now
float GainPot = (float)(TxVal) * 0.001f;
//Get the target values from the TX
int PitchTarg = (TxVal / 10);
int RollTarg = (TxVal / 10);
int YawTarg = (TxVal / 10);
//Prime the Target WOZ values
if(PitchTargWOZ == 9999)
PitchTargWOZ = PitchTarg;
if(RollTargWOZ == 9999)
RollTargWOZ = RollTarg;
if(YawTargWOZ == 9999)
YawTargWOZ = YawTarg;
//Get the Centered target values
float PitchTargCentred = (float)(PitchTarg - PitchTargWOZ);
float RollTargCentred = (float)(RollTarg - RollTargWOZ);
float YawTargCentred = (float)(YawTarg - YawTargWOZ);
//Calculate gains
float PitchGain = GainPot * 1.0f;
float RollGain = GainPot * 1.0f;
float YawGain = GainPot * 1.0f;
//Get Gyro values
float PitchGyro = (float)(AnIn - AnInWOZ);
float RollGyro = (float)(AnIn - AnInWOZ);
float YawGyro = (float)(AnIn - AnInWOZ);
//Calc P error
float PitchError = (float)PitchTargCentred + PitchGyro;
float RollError = (float)RollTargCentred + RollGyro;
float YawError = (float)YawTargCentred + YawGyro;
//Apply gains
int PitchTrim = (int)(PitchError * PitchGain);
int RollTrim = (int)(RollError * RollGain);
int YawTrim = (int)(YawError * YawGain);
//Constaring trim authority
PitchTrim = constrain(PitchTrim, -30, 30);
RollTrim = constrain(RollTrim, -30, 30);
YawTrim = constrain(YawTrim, -30, 30);
//Dump the trim value
if((TxVal & 0x4) == 0)
{
PitchTrim = 0;
RollTrim = 0;
YawTrim = 0;
}
Here is all the RX the code
#define MAX_CHAN 12
#define MAX_IN_STR 200
#define MAX_SETTINGS 20
#define MAX_NAV_VALS 50
#define MAX_SAMPLE 10
#include
char buf = {0, };
String str = "";
char *p;
Servo servo; // create servo object to control a servo
int val = 0; // variable to read the value from the analog pin
int AnInWOZ[MAX_CHAN] = {0, };
int AnIn[MAX_CHAN] = {0, };
int AnInBuf[MAX_CHAN] = {0, };
//Get the target values from the TX at rest
int PitchTargWOZ = 9999;
int RollTargWOZ = 9999;
int YawTargWOZ = 9999;
String inputString = "" // a string to hold incoming data
int Sample = 0;
int TxTemp[MAX_CHAN + 1] = {0, };
int TxVal[MAX_CHAN + 1] = {0, };
int NavVal[MAX_NAV_VALS] = {0, };
int SettingVal[MAX_SETTINGS] = {0, };
int rssiDur = 0;
int DigBits = 0;
int ComState = 0;
long PacketCount = 0;
long NoPacketCount = 0;
//Digital inputs TX code helper
//TxVal |= (digitalRead(5) << 0);//joy 2 push
//TxVal |= (digitalRead(6) << 1);//pb
//TxVal |= (digitalRead(7) << 2);//slide
//TxVal |= (digitalRead(8) << 3);//toggle
void setup() {
// initialize serial:
Serial.begin(38400);
// reserve 200 bytes for the inputString:
inputString.reserve(MAX_IN_STR);
pinMode(2,INPUT);//rssi
digitalWrite(2, HIGH);
servo.attach(3); // attaches the servo on pin 3 to the servo object
servo.attach(5); // attaches the servo on pin 5 to the servo object
servo.attach(6); // attaches the servo on pin 6 to the servo object
servo.attach(9); // attaches the servo on pin 9 to the servo object
servo.attach(10); // attaches the servo on pin 10 to the servo object
servo.attach(11); // attaches the servo on pin 11 to the servo object
NullServos();
//Get all the analogue signals
//Do a wind off zero
for(int i = 0;i < 8;i++)
AnInWOZ[i] = 0;
for(int i = 0;i < MAX_SAMPLE;i++){
AnIn += analogRead(A0);
AnIn += analogRead(A1);
AnIn += analogRead(A2);
AnIn += analogRead(A3);
AnIn += analogRead(A4);
AnIn += analogRead(A5);
AnIn += analogRead(A6);
AnIn += analogRead(A7);
delayMicroseconds(10);
}
for(int i = 0;i < 8;i++)
AnInWOZ[i] = (AnIn[i] / MAX_SAMPLE);
//Prime the WOZ values
PitchTargWOZ = 9999;
RollTargWOZ = 9999;
YawTargWOZ = 9999;
}
void loop(){
//*Get all the analogue signals
for(int i = 0;i < 8;i++)
AnInBuf[i] = 0;
for(int i = 0;i < MAX_SAMPLE;i++){
AnInBuf += analogRead(A0);
AnInBuf += analogRead(A1);
AnInBuf += analogRead(A2);
AnInBuf += analogRead(A3);
AnInBuf += analogRead(A4);
AnInBuf += analogRead(A5);
AnInBuf += analogRead(A6);
AnInBuf += analogRead(A7);
delayMicroseconds(10);
}
for(int i = 0;i < 8;i++)
AnIn[i]= (AnInBuf[i] / MAX_SAMPLE);
//Capture the Xbee comms
int CharCount = 0;
while ((Serial.available()) && ((++CharCount) 0)
inputString += inChar;
if(inputString.length() >= MAX_IN_STR)
break;
//Detect end of packet
if ( (inChar == 'n') && (ComState > 0) )
{
//Serial.println(inputString);
//Count packets
PacketCount++;
int NumChan = ExtractPacket();
//Tramsmitter
if( ComState == 1)
{
for(int i = 0 ;i < NumChan;i++)
TxVal[i] = TxTemp[i];
DoTelemetery();
UpdateServos();
}//Navigator
else if( ComState == 2)
{
for(int i = 0 ;i < NumChan;i++)
NavVal[i] = TxTemp[i];
}//Settings
else if( ComState == 3)
{
for(int i = 0 ;i 50)
{
NullServos();
SoftReset();
}
//delayMicroseconds(1000);
}
int ExtractPacket()
{
int Lchk = 0;
int channel = 0; //initialise the channel count
p = &inputString;
while ((str = strtok_r(p, ",", &p)) != NULL) // delimiter is the comma
{
TxTemp[channel] = str.toInt(); //use the channel as an index to add each value to the array
Lchk += TxTemp[channel];
channel++; //increment the channel
if(channel > MAX_CHAN)
break;
}

chrisisaok

#3
Jan 15, 2013, 09:27 pm Last Edit: Jan 15, 2013, 09:56 pm by chrisisaok Reason: 1
Code: [Select]
p = NULL;
inputString = "";
//Process in comming data
if(channel > 2)
{
//Remove the remote chk from the total
Lchk -= TxTemp[channel-2];
//Checksum
if((Lchk - TxTemp[channel-2]) == 0)
return channel;
}
return -1;
}
void DoTelemetery()
{
//Send back a telemetery packet
if((PacketCount % 5) == 0)
{
rssiDur = pulseIn(5, LOW, 200);
int PacketType = 12;
//sprintf(buf, "T%02X,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,n", PacketType, rssiDur, PacketCount, NoPacketCount, TxVal, TxVal, TxVal, TxVal, TxVal, TxVal, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, DigBits);
//sprintf(buf, "T %d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,n", PacketType, rssiDur, PacketCount, NoPacketCount, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, DigBits, TxVal);
sprintf(buf, "T%02X%02X%04X%02X%03X%03X%03X%03X%03X%03X%03X%03X%03X%02X%02Xn", PacketType, rssiDur, PacketCount, NoPacketCount, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, AnIn, DigBits, TxVal);
Serial.write(buf);
if(digitalRead(13) == false)
digitalWrite(13, HIGH); // set the LED on
else
digitalWrite(13, LOW); // set the LED off
}
}
void UpdateServos()
{
//Digital inputs TX code helper
//TxVal |= (digitalRead(5) << 0);//joy 2 push
//TxVal |= (digitalRead(6) << 1);//pb
//TxVal |= (digitalRead(7) << 2);//slide
//TxVal |= (digitalRead(8) << 3);//toggle
//Throttle TxVal
//Rotary pot TxVal
//Joy 1 X TxVal
//Joy 1 Y TxVal
//Joy 2 X TxVal
//Joy 2 Y TxVal
//rssi TxVal
//digital TxVal
//micros() TxVal
//Use the pot as the gain for all channels for now
float GainPot = (float)(TxVal) * 0.001f;
//Get the target values from the TX
int PitchTarg = (TxVal / 10);
int RollTarg = (TxVal / 10);
int YawTarg = (TxVal / 10);
//Prime the Target WOZ values
if(PitchTargWOZ == 9999)
PitchTargWOZ = PitchTarg;
if(RollTargWOZ == 9999)
RollTargWOZ = RollTarg;
if(YawTargWOZ == 9999)
YawTargWOZ = YawTarg;
//Get the Centered target values
float PitchTargCentred = (float)(PitchTarg - PitchTargWOZ);
float RollTargCentred = (float)(RollTarg - RollTargWOZ);
float YawTargCentred = (float)(YawTarg - YawTargWOZ);
//Calculate gains
float PitchGain = GainPot * 1.0f;
float RollGain = GainPot * 1.0f;
float YawGain = GainPot * 1.0f;
//Get Gyro values
float PitchGyro = (float)(AnIn - AnInWOZ);
float RollGyro = (float)(AnIn - AnInWOZ);
float YawGyro = (float)(AnIn - AnInWOZ);
//Calc P error
float PitchError = (float)PitchTargCentred + PitchGyro;
float RollError = (float)RollTargCentred + RollGyro;
float YawError = (float)YawTargCentred + YawGyro;
//Apply gains
int PitchTrim = (int)(PitchError * PitchGain);
int RollTrim = (int)(RollError * RollGain);
int YawTrim = (int)(YawError * YawGain);
//Constaring trim authority
PitchTrim = constrain(PitchTrim, -30, 30);
RollTrim = constrain(RollTrim, -30, 30);
YawTrim = constrain(YawTrim, -30, 30);
//Dump the trim value
if((TxVal & 0x4) == 0)
{
PitchTrim = 0;
RollTrim = 0;
YawTrim = 0;
}
//Calc flap anglke
int Flaps = 0;
//Apply flaps
if((TxVal & 0x8) != 0)
Flaps = 25;
//Throttle
val = TxVal / 10;
val = map(val, 1, 179, 30, 179);
val = constrain(val, 1, 165); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Elevator Joy 1 Y TxVal
val = PitchTarg + PitchTrim;
val = constrain(val, 15, 165);
val = map(val, 0, 179, 135, 45); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Left Flaperon
val = RollTarg + Flaps + RollTrim;
val = constrain(val, 15, 165);
val = map(val, 0, 179, 165, 15); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Right Flaperon
val = RollTarg - Flaps + RollTrim;
val = constrain(val, 15, 165);
val = map(val, 0, 179, 165, 15); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Joy 2 x nose Wheel / rudder
val = (TxVal / 10);
val = map(val, 0, 179, 55, 125);
servo.write(val); // sets the servo position according to the scaled value
//Joy 2 Y
val = TxVal / 10;
val = constrain(val, 15, 165); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
}
void NullServos()
{
//Throttle TxVal
//Rotary pot TxVal
//Joy 1 X TxVal
//Joy 1 Y TxVal
//Joy 2 X TxVal
//Joy 2 Y TxVal
//rssi TxVal
//digital TxVal
//micros() TxVal
//Throttle
val = 0;
val = map(val, 1, 179, 30, 179);
val = constrain(val, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Elevator Joy 1 Y TxVal
val = 90;
val = constrain(val, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Left Flaperon
val = 90;
val = map(val, 0, 179, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Right Flaperon
val = 90;
val = constrain(val, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Joy 2 X
val = 90;
val = constrain(val, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
//Joy 2 Y
val = 90;
val = constrain(val, 1, 179); // scale it to use it with the servo (value between 0 and 180)
servo.write(val); // sets the servo position according to the scaled value
}
void SoftReset() // Restarts program from beginning but does not reset the peripherals and registers
{
//Prime the WOZ values
PitchTargWOZ = 9999;
RollTargWOZ = 9999;
YawTargWOZ = 9999;
NoPacketCount = 0;
asm volatile (" jmp 0");
}

PeterH

It seems that the Arduino IDE is running out of memory when it tries to pre-process your sketch. In that case you need to either simplify your sketch or increase the memory available to the IDE. The only option I can find that might be relevant is the entry run.options.memory.maximum=256 in your preferences.txt file. You could try increasing that value and see whether it makes any difference?
I only provide help via the forum - please do not contact me for private consultancy.

chrisisaok

I have increased this incrementally to 10000 and I am still greeted with the same error. I copied the code from a website that shows it working. Here is the website:
http://arduino.cc/blog/2012/11/29/arduino-aircraft-stabilization-code/



PeterH

#6
Jan 16, 2013, 12:11 am Last Edit: Jan 16, 2013, 12:14 am by PeterH Reason: 1
It seems to me that the code is malformed and probably breaking the Arduino's parser. After about 34 lines of declarations there is executable code outside of a function, English text that is presumably not intended to be part of the code, and the only sign of an include file is just:

Code: [Select]

#include


I suspect the sketch was supposed to start after the words "Here is all the RX the code", but even so that #include makes me suspect the code has been mangled somewhere along the way and IMO you need to have the original source to have any hope of compiling it.
I only provide help via the forum - please do not contact me for private consultancy.

123Splat

Chris,
You only have a portion of the code (to calculate the trim values),  You need to go back to the blog link you reference and click on the "Yellow Plane" link and read the entire article.

Have fun ! 
Splat

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