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Fix collection errors from ci (#3296)
* [chibios] remove unecessary option that makes a warning on H7 see ChibiOS forum: http://forum.chibios.org/viewtopic.php?t=5830 * [guidance] fix hybrid guidance after merging #3248 * [natnet] remove call to function that doesn't exist issue were only on verbose mode * [conf] remove bebop_flip aiframe file The FLIP mode is not supported anymore, better remove this example. If flip is really needed, it should be implemented as a custom mode in generated autopilot.
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
18fa11d99d
commit
167b1768e5
@@ -1,221 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop_indi">
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<description>Bebop, Makes Loopings
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</description>
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<firmware name="rotorcraft">
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<target name="ap" board="bebop"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="furuno"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="float_mlkf"/>
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<module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
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</module>
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<module name="ins" type="extended"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="logger_file">
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<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
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</module>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<section name="gyro_scaling">
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<define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
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<define name="IMU_GYRO_P_SENS" value="4.359"/>
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<define name="IMU_GYRO_Q_SENS" value="4.359"/>
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<define name="IMU_GYRO_R_SENS" value="4.359"/>
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<define name="IMU_GYRO_P_SENS_NUM" value="4359"/>
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<define name="IMU_GYRO_Q_SENS_NUM" value="4359"/>
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<define name="IMU_GYRO_R_SENS_NUM" value="4359"/>
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<define name="IMU_GYRO_P_SENS_DEN" value="1000"/>
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<define name="IMU_GYRO_Q_SENS_DEN" value="1000"/>
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<define name="IMU_GYRO_R_SENS_DEN" value="1000"/>
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</section>
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<servos driver="Default">
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<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
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<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="18"/>
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<define name="MAG_Y_NEUTRAL" value="157"/>
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<define name="MAG_Z_NEUTRAL" value="49"/>
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<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
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<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
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<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Toulouse -->
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<!--define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/-->
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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<!-- For vibrating airfames -->
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="300" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.0639"/>
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<define name="G1_Q" value="0.0361"/>
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<define name="G1_R" value="0.0022"/>
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<define name="G2_R" value="0.1450"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="28.0"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ_P" value="53.9"/>
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<define name="ACT_FREQ_Q" value="53.9"/>
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<define name="ACT_FREQ_R" value="53.9"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="79"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_FLIP"/>
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<define name="MODE_AUTO2" value="AP_MODE_FLIP"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -118,8 +118,8 @@ MCFLAGS = -mcpu=$(MCU)
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ODFLAGS = -x --syms
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ODFLAGS = -x --syms
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ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
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ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
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ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
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ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
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CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
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CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) $(DEFS)
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CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS) $(UPDEFS)
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CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) $(DEFS) $(UPDEFS)
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LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(OBJDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
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LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(OBJDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
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# Thumb interwork enabled only if needed because it kills performance.
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# Thumb interwork enabled only if needed because it kills performance.
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@@ -472,17 +472,6 @@
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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"
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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"
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gui_color="red"
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gui_color="red"
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/>
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/>
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<aircraft
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name="bebop_flip"
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ac_id="3"
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airframe="airframes/tudelft/bebop_flip.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
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gui_color="#7d7fd7e7ffff"
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/>
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<aircraft
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<aircraft
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name="bebop_opticflow_indoor"
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name="bebop_opticflow_indoor"
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ac_id="97"
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ac_id="97"
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@@ -183,32 +183,25 @@ struct StabilizationSetpoint guidance_hybrid_h_run_accel(bool in_flight UNUSED,
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return sp;
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return sp;
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}
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}
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int32_t guidance_hybrid_v_run_pos(bool in_flight, struct VerticalGuidance *gv)
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struct ThrustSetpoint guidance_hybrid_v_run_pos(bool in_flight, struct VerticalGuidance *gv)
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{
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{
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int32_t delta_t = guidance_pid_v_run_pos(in_flight, gv);
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struct ThrustSetpoint th = guidance_pid_v_run_pos(in_flight, gv);
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return guidance_hybrid_vertical(delta_t);
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return guidance_hybrid_vertical(&th);
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}
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}
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int32_t guidance_hybrid_v_run_speed(bool in_flight, struct VerticalGuidance *gv)
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struct ThrustSetpoint guidance_hybrid_v_run_speed(bool in_flight, struct VerticalGuidance *gv)
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{
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{
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int32_t delta_t = guidance_pid_v_run_speed(in_flight, gv);
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struct ThrustSetpoint th = guidance_pid_v_run_speed(in_flight, gv);
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return guidance_hybrid_vertical(delta_t);
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return guidance_hybrid_vertical(&th);
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}
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}
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int32_t guidance_hybrid_v_run_accel(bool in_flight, struct VerticalGuidance *gv)
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struct ThrustSetpoint guidance_hybrid_v_run_accel(bool in_flight, struct VerticalGuidance *gv)
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{
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{
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int32_t delta_t = guidance_pid_v_run_accel(in_flight, gv);
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struct ThrustSetpoint th = guidance_pid_v_run_accel(in_flight, gv);
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return guidance_hybrid_vertical(delta_t);
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return guidance_hybrid_vertical(&th);
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}
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}
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void guidance_hybrid_reset_heading(struct Int32Eulers *sp_cmd)
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{
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guidance_hybrid_ypr_sp.psi = sp_cmd->psi;
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high_res_psi = sp_cmd->psi << (INT32_ANGLE_HIGH_RES_FRAC - INT32_ANGLE_FRAC);
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stabilization_attitude_set_rpy_setpoint_i(sp_cmd);
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}
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/// Convert a required airspeed to a certain attitude for the Quadshot
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/// Convert a required airspeed to a certain attitude for the Quadshot
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void guidance_hybrid_airspeed_to_attitude(struct Int32Eulers *ypr_sp)
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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
|
* Take a thrust command as input and returns the modified value
|
||||||
* according to the current flight regime
|
* 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;
|
int32_t hybrid_delta_t = 0;
|
||||||
|
|
||||||
float fwd_speed_err = guidance_hybrid_norm_ref_airspeed_f - AIRSPEED_FORWARD;
|
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;
|
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);
|
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);
|
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);
|
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);
|
return guidance_hybrid_v_run_accel(in_flight, gv);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -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_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_speed(bool in_flight, struct HorizontalGuidance *gh);
|
||||||
extern struct StabilizationSetpoint guidance_hybrid_h_run_accel(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 struct ThrustSetpoint 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 struct ThrustSetpoint 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_accel(bool in_flight, struct VerticalGuidance *gv);
|
||||||
|
|
||||||
/** Creates the attitude set-points from an orientation vector.
|
/** Creates the attitude set-points from an orientation vector.
|
||||||
* @param sp_cmd The 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);
|
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.
|
/** Description.
|
||||||
* Change thurst command from standard hover loop to hybrid thrust command
|
* Change thurst command from standard hover loop to hybrid thrust command
|
||||||
* @param delta_t original thurst command
|
* @param delta_t original thurst command
|
||||||
* @return modified thrust 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;
|
extern bool force_forward_flight;
|
||||||
|
|
||||||
|
|||||||
@@ -411,9 +411,6 @@ if not run_test_cases:
|
|||||||
print("Natnet error: Fail to connect to natnet")
|
print("Natnet error: Fail to connect to natnet")
|
||||||
exit(-1)
|
exit(-1)
|
||||||
|
|
||||||
if args.verbose:
|
|
||||||
print_configuration(natnet)
|
|
||||||
|
|
||||||
while True:
|
while True:
|
||||||
sleep(1)
|
sleep(1)
|
||||||
except (KeyboardInterrupt, SystemExit):
|
except (KeyboardInterrupt, SystemExit):
|
||||||
|
|||||||
Reference in New Issue
Block a user