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Autopilot refactor (#2009)

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* [autopilot] refactor autopilot API for both firmwares

With this, fixedwing and rotorcraft are mostly using the same interface
for the autopilot. Some specific code and messages handling are still
firmware dependent.
A large part of the autopilot logic of the fixedwing is moved from
main_ap to autopilot_static.
More getter/setter functions are provided.

* [autopilot] update the rest of the system and the conf

for using the refactored autopilot API

* [autopilot] fix some errors from CI servers

* [actuators] use dummy actuators module to prevent autoloading

* Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml

* Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml

* Delete tudelft_course2016_bebop_colorfilter.xml

* Delete tudelft_course2016_bebop_avoider.xml

* [actuators] don't autoload actuators when set to 'none'

* [gcs] autodetect firmware for strip mode button
This commit is contained in:
Gautier Hattenberger
2017-02-19 11:45:57 +01:00
committed by Felix Ruess
parent ded925a851
commit 363dec8693
275 changed files with 1931 additions and 1380 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/simulator/nps/nps_autopilot.h
+1 -1
View File
@@ -24,7 +24,7 @@ struct NpsAutopilot {
bool launch;
};
extern struct NpsAutopilot autopilot;
extern struct NpsAutopilot nps_autopilot;
extern bool nps_bypass_ahrs;
extern bool nps_bypass_ins;
sw/simulator/nps/nps_autopilot_fixedwing.c
+12 -12
View File
@@ -50,7 +50,7 @@
#include "subsystems/abi.h"
// for launch
#include "firmwares/fixedwing/autopilot.h"
#include "autopilot.h"
// for datalink_time hack
#include "subsystems/datalink/datalink.h"
@@ -60,7 +60,7 @@
#include "subsystems/datalink/downlink.h"
#endif
struct NpsAutopilot autopilot;
struct NpsAutopilot nps_autopilot;
bool nps_bypass_ahrs;
bool nps_bypass_ins;
@@ -80,7 +80,7 @@ bool nps_bypass_ins;
void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
{
autopilot.launch = FALSE;
nps_autopilot.launch = FALSE;
if (rc_dev != NULL) {
nps_radio_control_init(type_rc, num_rc_script, rc_dev);
@@ -183,30 +183,30 @@ void nps_autopilot_run_step(double time)
//PRINT_CONFIG_VAR(NPS_ACTUATOR_NAMES)
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)commands[i] / MAX_PPRZ;
nps_autopilot.commands[i] = (double)commands[i] / MAX_PPRZ;
}
// hack: invert pitch to fit most JSBSim models
autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH] / MAX_PPRZ;
#else
PRINT_CONFIG_MSG("Using throttle, roll, pitch, yaw commands instead of explicit actuators.")
PRINT_CONFIG_VAR(COMMAND_THROTTLE)
PRINT_CONFIG_VAR(COMMAND_ROLL)
PRINT_CONFIG_VAR(COMMAND_PITCH)
autopilot.commands[COMMAND_THROTTLE] = (double)commands[COMMAND_THROTTLE] / MAX_PPRZ;
autopilot.commands[COMMAND_ROLL] = (double)commands[COMMAND_ROLL] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_THROTTLE] = (double)commands[COMMAND_THROTTLE] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_ROLL] = (double)commands[COMMAND_ROLL] / MAX_PPRZ;
// hack: invert pitch to fit most JSBSim models
autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH] / MAX_PPRZ;
#ifdef COMMAND_YAW
PRINT_CONFIG_VAR(COMMAND_YAW)
autopilot.commands[COMMAND_YAW] = (double)commands[COMMAND_YAW] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_YAW] = (double)commands[COMMAND_YAW] / MAX_PPRZ;
#endif /* COMMAND_YAW */
#endif /* NPS_ACTUATOR_NAMES */
// do the launch when clicking launch in GCS
autopilot.launch = launch && !kill_throttle;
if (!launch) {
autopilot.commands[COMMAND_THROTTLE] = 0;
nps_autopilot.launch = autopilot.launch && !autopilot.kill_throttle;
if (!autopilot.launch) {
nps_autopilot.commands[COMMAND_THROTTLE] = 0;
}
}
sw/simulator/nps/nps_autopilot_rotorcraft.c
+3 -3
View File
@@ -45,7 +45,7 @@
// for datalink_time hack
#include "subsystems/datalink/datalink.h"
struct NpsAutopilot autopilot;
struct NpsAutopilot nps_autopilot;
bool nps_bypass_ahrs;
bool nps_bypass_ins;
@@ -63,7 +63,7 @@ bool nps_bypass_ins;
void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
{
autopilot.launch = TRUE;
nps_autopilot.launch = TRUE;
nps_radio_control_init(type_rc, num_rc_script, rc_dev);
nps_electrical_init();
@@ -152,7 +152,7 @@ void nps_autopilot_run_step(double time)
/* scale final motor commands to 0-1 for feeding the fdm */
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
nps_autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
}
}
sw/simulator/nps/nps_ivy.c
+1 -1
View File
@@ -186,7 +186,7 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__((unused)),
printf("setting %d %f\n", index, value);
/*
* In case of HITL, update autopilot.launch from DL_SETTINGS
* In case of HITL, update nps_autopilot.launch from DL_SETTINGS
* so the plane can be properly launched.
*
* In case of STIL nps_update_launch_from_dl() is an empty function
sw/simulator/nps/nps_main_hitl.c
+5 -5
View File
@@ -95,13 +95,13 @@ void nps_radio_and_autopilot_init(void)
void nps_update_launch_from_dl(uint8_t value)
{
autopilot.launch = value;
nps_autopilot.launch = value;
}
void nps_main_run_sim_step(void)
{
nps_atmosphere_update(SIM_DT);
nps_fdm_run_step(autopilot.launch, autopilot.commands, NPS_COMMANDS_NB);
nps_fdm_run_step(nps_autopilot.launch, nps_autopilot.commands, NPS_COMMANDS_NB);
}
void *nps_ins_data_loop(void *data __attribute__((unused)))
@@ -244,10 +244,10 @@ void *nps_ap_data_loop(void *data __attribute__((unused)))
pthread_mutex_lock(&fdm_mutex);
// update commands
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)cmd_buf[i] / MAX_PPRZ;
nps_autopilot.commands[i] = (double)cmd_buf[i] / MAX_PPRZ;
}
// hack: invert pitch to fit most JSBSim models
autopilot.commands[COMMAND_PITCH] = -(double)cmd_buf[COMMAND_PITCH] / MAX_PPRZ;
nps_autopilot.commands[COMMAND_PITCH] = -(double)cmd_buf[COMMAND_PITCH] / MAX_PPRZ;
pthread_mutex_unlock(&fdm_mutex);
break;
case DL_MOTOR_MIXING:
@@ -257,7 +257,7 @@ void *nps_ap_data_loop(void *data __attribute__((unused)))
pthread_mutex_lock(&fdm_mutex);
// update commands
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)cmd_buf[i] / MAX_PPRZ;
nps_autopilot.commands[i] = (double)cmd_buf[i] / MAX_PPRZ;
}
pthread_mutex_unlock(&fdm_mutex);
break;
sw/simulator/nps/nps_main_sitl.c
+1 -1
View File
@@ -77,7 +77,7 @@ void nps_main_run_sim_step(void)
nps_autopilot_run_systime_step();
nps_fdm_run_step(autopilot.launch, autopilot.commands, NPS_COMMANDS_NB);
nps_fdm_run_step(nps_autopilot.launch, nps_autopilot.commands, NPS_COMMANDS_NB);
nps_sensors_run_step(nps_main.sim_time);