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Guidance Vector Field (#1919)

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* pprzlink updated to master

* guidance vector field module

* sin trajectory, forgot a minus sign...

* xml files for GVF

* control/gvf.xml not needed anymore

* added some structs for settings and placing gvf_variables into structs

* demo flight plan for testing the settings of the GVF

* style fixed

* trigonometry calculations made only once

* syntax fixed

* pprzlink updated

* added defines and improved description in the module .xml

* module only works for fixedwing (so far)
This commit is contained in:
Hector Garcia de Marina
2016-11-03 22:48:02 +01:00
committed by Gautier Hattenberger
parent 7036dc9b0d
commit 2257a889da
13 changed files with 1434 additions and 0 deletions
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conf/telemetry/default_fixedwing_gvf.xml
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<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="AIRSPEED" period="1"/>
<message name="ALIVE" period="5"/>
<message name="GPS" period="0.25"/>
<message name="NAVIGATION" period="1."/>
<message name="ATTITUDE" period="0.5"/>
<message name="ESTIMATOR" period="0.5"/>
<message name="ENERGY" period="2.5"/>
<message name="WP_MOVED" period="0.5"/>
<message name="CIRCLE" period="1.05"/>
<message name="DESIRED" period="1.05"/>
<message name="BAT" period="1.1"/>
<message name="SEGMENT" period="1.2"/>
<message name="CALIBRATION" period="2.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="5."/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="5."/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="1.2"/>
<message name="IMU_GYRO" period="1.1"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="2.0"/>
<message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
<message name="AIR_DATA" period="1.3"/>
<message name="VECTORNAV_INFO" period="0.5"/>
<message name="GVF" period="1"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
<message name="ATTITUDE" period="4"/>
<message name="GPS" period="1.05"/>
<message name="ESTIMATOR" period="1.3"/>
<message name="WP_MOVED" period="1.4"/>
<message name="CIRCLE" period="3.05"/>
<message name="DESIRED" period="4.05"/>
<message name="BAT" period="1.1"/>
<message name="SEGMENT" period="3.2"/>
<message name="CALIBRATION" period="5.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="NAVIGATION" period="3."/>
<message name="PPRZ_MODE" period="5."/>
<message name="STATE_FILTER_STATUS" period="5."/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="5.2"/>
<message name="IMU_GYRO" period="10.1"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="5.5"/>
<message name="STATE_FILTER_STATUS" period="7."/>
<message name="DATALINK_REPORT" period="5.7"/>
</mode>
<mode name="raw_sensors">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="BARO_RAW" period="0.5"/>
<message name="IR_SENSORS" period="0.5"/>
<message name="IMU_GYRO_RAW" period="0.1"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="0.5"/>
<message name="FBW_STATUS" period="1"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
</process>
</telemetry>