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Fix problems with master after stabilization and chibi merges (#3280)

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Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
This commit is contained in:
Christophe De Wagter
2024-05-30 09:25:58 +02:00
committed by GitHub
parent 41af453cd5
commit 4c97648080
42 changed files with 94 additions and 52 deletions
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conf/airframes/BR/disco.xml
+1 -1
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@@ -39,7 +39,7 @@
<module name="gps" type="ubx_ucenter"/>
<module name="ins" type="alt_float"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
</module>
<module name="air_data"/>
conf/airframes/CDW/cdw_mavtec.xml
-2
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@@ -65,8 +65,6 @@
<section name="SWITCH_SERVO">
<define name="SWITCH_SERVO_SERVO" value="DROP"/>
<define name="SWITCH_SERVO_ON_VALUE" value="MIN_PPRZ"/>
<define name="SWITCH_SERVO_OFF_VALUE" value="MAX_PPRZ"/>
<define name="DropOpen()" value="SwitchServoOn()"/>
<define name="DropClose()" value="SwitchServoOff()"/>
</section>
conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml
+1 -1
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@@ -82,7 +82,7 @@
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
</module>
</firmware>
conf/airframes/ENAC/hybrid/cyfoam.xml
+1 -1
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@@ -100,7 +100,7 @@
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.546"/> <!-- 2.4 / 1.6327 * 1.0521 -->
</module>
conf/airframes/KS/kirk_conf.xml
+1 -1
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@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
gui_color="#ffff00000000"
/>
<aircraft
conf/airframes/KS/ks_bebop2_stereo.xml
+3 -2
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@@ -1,6 +1,7 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_opticflow">
<autopilot name="rotorcraft_autopilot"/>
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
@@ -204,8 +205,8 @@
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
conf/airframes/examples/ardrone2_opticflow_hover.xml
+3
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@@ -5,6 +5,9 @@
</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_control_loop"/>
<target name="ap" board="ardrone2"/>
<!--target name="nps" board="pc">
conf/airframes/examples/pixhawk_6x.xml
+1 -1
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@@ -24,7 +24,7 @@
<define name="USE_I2C2"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/examples/quadrotor_lisa_mx.xml
+3 -1
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@@ -30,7 +30,9 @@
<module name="telemetry" type="transparent"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ublox">
<configure name="PRIMARY_GPS" value="ublox"/>
</module>
<module name="gps" type="piksi">
<configure name="PIKSI_GPS_PORT" value="UART5"/>
<configure name="SECONDARY_GPS" value="piksi"/>
conf/airframes/test_boards/chimera.xml
+1 -1
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@@ -31,7 +31,7 @@
<module name="gps" type="ublox"/>
<module name="air_data"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
</module>
<module name="sys_mon"/>
conf/airframes/test_boards/disco.xml
+1 -1
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@@ -27,7 +27,7 @@
<module name="gps" type="ubx_ucenter"/>
<module name="ins" type="alt_float"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
</module>
<module name="air_data"/>
conf/airframes/tudelft/ardrone2_opticflow.xml
+4 -2
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@@ -5,6 +5,8 @@
</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_autopilot"/>
<target name="ap" board="ardrone2"/>
<!--target name="nps" board="pc">
@@ -196,8 +198,8 @@
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
conf/airframes/tudelft/bebop2_undistort_front.xml
+3 -2
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@@ -3,6 +3,8 @@
<airframe name="bebop2_optitrack_visionfront">
<firmware name="rotorcraft">
<autopilot name="rotorcraft_autopilot"/>
<target name="ap" board="bebop2"/>
<module name="telemetry" type="transparent_udp"/>
@@ -211,8 +213,7 @@
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<!-- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> -->
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+3 -1
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@@ -5,6 +5,8 @@
</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_control_loop"/>
<target name="ap" board="bebop">
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>
@@ -257,7 +259,7 @@
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_MODULE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
conf/airframes/tudelft/bebop_opticflow.xml
+5 -2
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@@ -5,6 +5,9 @@
</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_autopilot"/>
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
@@ -199,8 +202,8 @@
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
conf/airframes/tudelft/cyfoam.xml
+1 -1
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@@ -232,7 +232,7 @@
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.546"/> <!-- 2.4 / 1.6327 * 1.0521 -->
</module>
conf/airframes/tudelft/disco.xml
+1 -1
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@@ -27,7 +27,7 @@
<module name="gps" type="ubx_ucenter"/>
<module name="ins" type="alt_float"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
</module>
<module name="air_data"/>
conf/airframes/tudelft/disco_rotorcraft_indi.xml
+1 -1
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@@ -17,7 +17,7 @@
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
</module>
<define name="RADIO_TH_HOLD" value="RADIO_KILL"/> <!-- Throttle hold in command laws -->
conf/airframes/tudelft/mentor.xml
+1 -1
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@@ -36,7 +36,7 @@
<!--module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
</module-->
<module name="air_data"/>
conf/airframes/tudelft/nederdrone4.xml
+1 -1
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@@ -24,7 +24,7 @@
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
</module>
conf/airframes/tudelft/nederdrone6.xml
+1 -1
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@@ -34,7 +34,7 @@
<!-- Airspeed sensors -->
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
<define name="I2C4_CLOCK_SPEED" value="100000"/>
</module>
<!--module name="airspeed" type="uavcan"/-->
conf/airframes/tudelft/nederdrone7.xml
+1 -1
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@@ -34,7 +34,7 @@
<!-- Airspeed sensors -->
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
<define name="I2C4_CLOCK_SPEED" value="100000"/>
</module>
<!--module name="airspeed" type="uavcan"/-->
conf/airframes/tudelft/nederdrone8.xml
+1 -1
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@@ -34,7 +34,7 @@
<!-- Airspeed sensors -->
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
<define name="I2C4_CLOCK_SPEED" value="100000"/>
</module>
<!--module name="airspeed" type="uavcan"/-->
conf/airframes/tudelft/rot_wing_v3b.xml
+1 -1
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@@ -82,7 +82,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/tudelft/rot_wing_v3d.xml
+1 -1
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@@ -69,7 +69,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.618426"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/tudelft/rot_wing_v3e.xml
+1 -1
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@@ -69,7 +69,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/tudelft/rot_wing_v3f.xml
+1 -1
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@@ -69,7 +69,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.652116663"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/tudelft/rot_wing_v3g.xml
+1 -1
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@@ -69,7 +69,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.65"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/airframes/tudelft/rot_wing_v3h.xml
+1 -1
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@@ -69,7 +69,7 @@
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<configure name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.65"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
conf/autopilot/rotorcraft_control_loop.xml
+18
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@@ -60,6 +60,24 @@
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="ATTITUDE_Z_HOLD" shortname="A_ZH">
<select cond="RCMode1()"/>
<on_enter>
<call fun="guidance_h_mode_changed(GUIDANCE_H_MODE_NONE)"/>
<call fun="guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER)"/>
<call fun="stabilization_mode_changed(STABILIZATION_MODE_ATTITUDE, STABILIZATION_ATT_SUBMODE_HEADING)"/>
</on_enter>
<control freq="NAVIGATION_FREQUENCY">
<call fun="nav_periodic_task()"/>
</control>
<control>
<call_block name="run_attitude_control"/>
<call_block name="set_commands"/>
</control>
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="MODULE">
<select cond="RCMode1()"/>
<on_enter>
conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml
+2 -2
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@@ -106,8 +106,8 @@ static inline void obstacle_detection_cb(uint8_t sender_id __attribute__((unused
<stay climb="nav.descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="Ramp down">
<exception cond="guidance_v.delta_t @LT 0.1*9600." deroute="Kill Engine"/>
<set var="fp_throttle" value="guidance_v.delta_t/9600."/>
<exception cond="guidance_v.th_sp @LT 0.1*9600." deroute="Kill Engine"/>
<set var="fp_throttle" value="guidance_v.th_sp/9600."/>
<stay throttle="fp_throttle-0.1*stage_time" vmode="throttle" wp="TD"/>
</block>
<block name="Kill Engine">
conf/modules/gps_ublox.xml
+2 -1
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@@ -51,7 +51,6 @@
<define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="UBX2_GPS_PORT" value="$(UBX2_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX2_GPS_BAUD)" cond="ifneq ($(UBX2_GPS_BAUD)$(SECONDARY_GPS),)"/>
<define name="GPS_UBX_NB" value="2" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<raw>
ifdef SECONDARY_GPS
@@ -59,6 +58,7 @@
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
$(TARGET).CFLAGS += -DGPS_UBX_NB=2
else ifneq (,$(findstring ublox, $(SECONDARY_GPS)))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
@@ -68,6 +68,7 @@
ifneq (,$(findstring ublox2, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
$(TARGET).CFLAGS += -DGPS_UBX_NB=2
else ifneq (,$(findstring ublox, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
conf/userconf/tudelft/conf.xml
+3 -3
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@@ -73,7 +73,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
gui_color="blue"
/>
<aircraft
@@ -414,7 +414,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/ctrl_module_outerloop_demo.xml modules/cv_detect_gate.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 modules/video_capture.xml modules/video_rtp_stream.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/ctrl_module_outerloop_demo.xml modules/cv_detect_gate.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="#ffffbc3bce5b"
/>
<aircraft
@@ -458,7 +458,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.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/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/cv_textons.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="#ffffbf17bf17"
/>
<aircraft
conf/userconf/tudelft/delfly_conf.xml
+1 -1
View File
@@ -18,7 +18,7 @@
telemetry="telemetry/rotorcraft_with_logger.xml"
flight_plan="flight_plans/tudelft/delfly_nimble_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_rotorcraft.xml modules/stabilization_int_euler.xml"
gui_color="blue"
/>
</conf>
conf/userconf/tudelft/guido_conf.xml
+1 -1
View File
@@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_undistort_image.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 modules/video_capture.xml modules/video_rtp_stream.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_undistort_image.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
gui_color="blue"
/>
<aircraft
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.h
+1 -1
View File
@@ -31,7 +31,7 @@
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h"
extern stabilization_attitude_euler_float_init(void);
extern void stabilization_attitude_euler_float_init(void);
extern struct FloatAttitudeGains stabilization_gains;
extern struct FloatEulers stabilization_att_sum_err;
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.h
+1 -1
View File
@@ -25,7 +25,7 @@
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
extern stabilization_attitude_euler_int_init(void);
extern void stabilization_attitude_euler_int_init(void);
extern struct Int32Eulers stabilization_att_sum_err;
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+1 -1
View File
@@ -146,7 +146,7 @@ void stabilization_rate_run(bool in_flight, struct StabilizationSetpoint *rate_s
cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p;
cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q;
cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r;
cmd[COMMAND_THRUST] = th_sp_to_thrust_i(th, 0, THRUST_AXIS_Z);
cmd[COMMAND_THRUST] = th_sp_to_thrust_i(thrust, 0, THRUST_AXIS_Z);
/* bound the result */
BoundAbs(cmd[COMMAND_ROLL], MAX_PPRZ);
sw/airborne/firmwares/setup/setup_actuators.c
+9 -3
View File
@@ -87,14 +87,20 @@ static inline void main_init(void)
static inline void main_periodic(void)
{
{
// generated macro from airframe file
AllActuatorsCommit();
// Downlink the actuators raw driver values
int16_t v[ACTUATORS_NB] = {0};
for (int i = 0; i < ACTUATORS_NB; i++) {
v[i] = actuators[i].driver_val;
}
LED_PERIODIC();
RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, actuators));
RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, v));
modules_periodic_task();
}
sw/airborne/modules/nav/nav_rotorcraft_hybrid.h
-2
View File
@@ -43,8 +43,6 @@ extern bool force_forward;
#endif
extern float nav_max_deceleration_sp;
extern void nav_rotorcraft_hybrid_init(void);
#endif
sw/airborne/test/test_manual.c
+8 -1
View File
@@ -98,11 +98,18 @@ static inline void main_periodic(void)
SetActuatorsFromCommands(commands, 0);
// Downlink the actuators raw driver values
int16_t v[ACTUATORS_NB] = {0};
for (int i = 0; i < ACTUATORS_NB; i++) {
v[i] = actuators[i].driver_val;
}
LED_PERIODIC();
RunOnceEvery(512, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(100, {DOWNLINK_SEND_RC(DefaultChannel, DefaultDevice, RADIO_CONTROL_NB_CHANNEL, radio_control.values);});
RunOnceEvery(101, {DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, commands);});
RunOnceEvery(102, {DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, actuators);});
RunOnceEvery(102, {DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, v);});
}
sw/tools/generators/gen_airframe.ml
+2 -2
View File
@@ -272,6 +272,8 @@ let print_actuators_idx = fun out ->
Hashtbl.iter (fun s (d, i) ->
(* Set servo macro *)
fprintf out "#define Set_%s_Servo(actuator_value_pprz) { \\\n" s;
fprintf out " int32_t servo_value;\\\n";
fprintf out " int32_t command_value;\\\n\\\n";
fprintf out " actuators[SERVO_%s_IDX].pprz_val = ClipAbs( actuator_value_pprz, MAX_PPRZ); \\\n" s;
fprintf out " command_value = actuator_value_pprz * (actuator_value_pprz>0 ? SERVO_%s_TRAVEL_UP_NUM : SERVO_%s_TRAVEL_DOWN_NUM); \\\n" s s;
fprintf out " command_value /= actuator_value_pprz>0 ? SERVO_%s_TRAVEL_UP_DEN : SERVO_%s_TRAVEL_DOWN_DEN; \\\n" s s;
@@ -434,8 +436,6 @@ let rec parse_section = fun out ac_id s ->
fprintf out "}\n\n";
(* print actuators from commands macro *)
fprintf out "#define SetActuatorsFromCommands(values, AP_MODE) { \\\n";
fprintf out " int32_t servo_value;\\\n";
fprintf out " int32_t command_value;\\\n\\\n";
fprintf out " int32_t actuator_value_pprz;\\\n\\\n";
List.iter (parse_command_laws out) (Xml.children s);
fprintf out " AllActuatorsCommit(); \\\n";