diff --git a/conf/airframes/tudelft/bebop_flip.xml b/conf/airframes/tudelft/bebop_flip.xml
deleted file mode 100644
index 601730fa77..0000000000
--- a/conf/airframes/tudelft/bebop_flip.xml
+++ /dev/null
@@ -1,221 +0,0 @@
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diff --git a/conf/chibios/chibios_rules.mk b/conf/chibios/chibios_rules.mk
index 4f71bd01a4..7ea6686a66 100644
--- a/conf/chibios/chibios_rules.mk
+++ b/conf/chibios/chibios_rules.mk
@@ -118,8 +118,8 @@ MCFLAGS = -mcpu=$(MCU)
ODFLAGS = -x --syms
ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
-CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
-CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS) $(UPDEFS)
+CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
+CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS) $(UPDEFS)
LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(OBJDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
# Thumb interwork enabled only if needed because it kills performance.
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index fd0959c924..c3e988a98c 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -472,17 +472,6 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
-
psi;
- high_res_psi = sp_cmd->psi << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC);
- stabilization_attitude_set_rpy_setpoint_i(sp_cmd);
-}
-
/// Convert a required airspeed to a certain attitude for the Quadshot
void guidance_hybrid_airspeed_to_attitude(struct Int32Eulers *ypr_sp)
{
@@ -440,8 +433,9 @@ struct StabilizationSetpoint guidance_hybrid_set_cmd_i(struct Int32Eulers *sp_cm
* Take a thrust command as input and returns the modified value
* according to the current flight regime
*/
-int32_t guidance_hybrid_vertical(int32_t delta_t)
+struct ThrustSetpoint guidance_hybrid_vertical(struct ThrustSetpoint *th)
{
+ int32_t delta_t = th_sp_to_thrust_i(th, 0, THRUST_AXIS_Z);
int32_t hybrid_delta_t = 0;
float fwd_speed_err = guidance_hybrid_norm_ref_airspeed_f - AIRSPEED_FORWARD;
@@ -486,7 +480,7 @@ int32_t guidance_hybrid_vertical(int32_t delta_t)
guidance_pid.ki = GUIDANCE_V_HOVER_KI;
}
- return hybrid_delta_t;
+ return th_sp_from_thrust_i(hybrid_delta_t, THRUST_AXIS_Z);
}
@@ -521,17 +515,17 @@ struct StabilizationSetpoint guidance_h_run_accel(bool in_flight, struct Horizon
return guidance_hybrid_h_run_accel(in_flight, gh);
}
-int32_t guidance_v_run_pos(bool in_flight, struct VerticalGuidance *gv)
+struct ThrustSetpoint guidance_v_run_pos(bool in_flight, struct VerticalGuidance *gv)
{
return guidance_hybrid_v_run_pos(in_flight, gv);
}
-int32_t guidance_v_run_speed(bool in_flight, struct VerticalGuidance *gv)
+struct ThrustSetpoint guidance_v_run_speed(bool in_flight, struct VerticalGuidance *gv)
{
return guidance_hybrid_v_run_speed(in_flight, gv);
}
-int32_t guidance_v_run_accel(bool in_flight, struct VerticalGuidance *gv)
+struct ThrustSetpoint guidance_v_run_accel(bool in_flight, struct VerticalGuidance *gv)
{
return guidance_hybrid_v_run_accel(in_flight, gv);
}
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h
index bb253b0a2e..adab51fe65 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h
@@ -61,9 +61,9 @@ extern struct StabilizationSetpoint guidance_hybrid_run(void);
extern struct StabilizationSetpoint guidance_hybrid_h_run_pos(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_hybrid_h_run_speed(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_hybrid_h_run_accel(bool in_flight, struct HorizontalGuidance *gh);
-extern int32_t guidance_hybrid_v_run_pos(bool in_flight, struct VerticalGuidance *gv);
-extern int32_t guidance_hybrid_v_run_speed(bool in_flight, struct VerticalGuidance *gv);
-extern int32_t guidance_hybrid_v_run_accel(bool in_flight, struct VerticalGuidance *gv);
+extern struct ThrustSetpoint guidance_hybrid_v_run_pos(bool in_flight, struct VerticalGuidance *gv);
+extern struct ThrustSetpoint guidance_hybrid_v_run_speed(bool in_flight, struct VerticalGuidance *gv);
+extern struct ThrustSetpoint guidance_hybrid_v_run_accel(bool in_flight, struct VerticalGuidance *gv);
/** Creates the attitude set-points from an orientation vector.
* @param sp_cmd The orientation vector
@@ -83,17 +83,12 @@ extern void guidance_hybrid_groundspeed_to_airspeed(void);
*/
extern void guidance_hybrid_determine_wind_estimate(void);
-/** Description.
- * @param sp_cmd Add Description
- */
-extern void guidance_hybrid_reset_heading(struct Int32Eulers *sp_cmd);
-
/** Description.
* Change thurst command from standard hover loop to hybrid thrust command
* @param delta_t original thurst command
* @return modified thrust command
*/
-extern int32_t guidance_hybrid_vertical(int32_t delta_t);
+extern struct ThrustSetpoint guidance_hybrid_vertical(struct ThrustSetpoint *th);
extern bool force_forward_flight;
diff --git a/sw/ground_segment/python/natnet3.x/natnet2ivy.py b/sw/ground_segment/python/natnet3.x/natnet2ivy.py
index 506169d65c..0027bab43b 100755
--- a/sw/ground_segment/python/natnet3.x/natnet2ivy.py
+++ b/sw/ground_segment/python/natnet3.x/natnet2ivy.py
@@ -411,9 +411,6 @@ if not run_test_cases:
print("Natnet error: Fail to connect to natnet")
exit(-1)
- if args.verbose:
- print_configuration(natnet)
-
while True:
sleep(1)
except (KeyboardInterrupt, SystemExit):