diff --git a/Makefile b/Makefile index c408345c75..3d9a3291ef 100644 --- a/Makefile +++ b/Makefile @@ -317,6 +317,9 @@ test_openuas: all # test TU Delft conf test_tudelft: all CONF_XML=conf/userconf/tudelft/conf.xml prove tests/aircrafts/ + CONF_XML=conf/userconf/tudelft/delfly_conf.xml prove tests/aircrafts/ + CONF_XML=conf/userconf/tudelft/course_conf.xml prove tests/aircrafts/ + CONF_XML=conf/userconf/tudelft/guido_conf.xml prove tests/aircrafts/ # test GVF conf test_gvf: all diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml index 940dc22ddb..bcdf15e116 100644 --- a/conf/airframes/AGGIEAIR/aggieair_conf.xml +++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml @@ -73,7 +73,7 @@ telemetry="telemetry/AGGIEAIR/aggieair_iris.xml" flight_plan="flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml" settings="settings/rotorcraft_basic.xml [settings/test_actuators_pwm.xml]" - settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml" + settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/lidar_lite.xml modules/lidar_sf11.xml modules/nav_rotorcraft.xml modules/px4flow_i2c.xml modules/stabilization_float_euler.xml" gui_color="#337e387bffff" /> + diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml index cb93ef8897..326fd9389d 100644 --- a/conf/airframes/BR/bebop_indi_frog.xml +++ b/conf/airframes/BR/bebop_indi_frog.xml @@ -40,6 +40,7 @@ + diff --git a/conf/airframes/BR/disco.xml b/conf/airframes/BR/disco.xml index 371754e889..0b3103c3a5 100644 --- a/conf/airframes/BR/disco.xml +++ b/conf/airframes/BR/disco.xml @@ -7,13 +7,15 @@ - + + + diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml index fd3653030b..381b411ec1 100644 --- a/conf/airframes/BR/ladybird_kit_indi_bart.xml +++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml @@ -223,6 +223,7 @@ + diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml index 5b7722388f..2948e0a215 100644 --- a/conf/airframes/ENAC/conf_enac.xml +++ b/conf/airframes/ENAC/conf_enac.xml @@ -84,7 +84,7 @@ telemetry="telemetry/default_fixedwing.xml" flight_plan="flight_plans/basic.xml" settings="settings/fixedwing_basic.xml" - settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml" + settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml" gui_color="blue" /> diff --git a/conf/airframes/ENAC/fixed-wing/disco.xml b/conf/airframes/ENAC/fixed-wing/disco.xml index d421fce79f..822f677a9e 100644 --- a/conf/airframes/ENAC/fixed-wing/disco.xml +++ b/conf/airframes/ENAC/fixed-wing/disco.xml @@ -7,13 +7,15 @@ - + + + diff --git a/conf/airframes/ENAC/fixed-wing/tawaki.xml b/conf/airframes/ENAC/fixed-wing/tawaki.xml index 6e51ee5238..4a4312f01e 100644 --- a/conf/airframes/ENAC/fixed-wing/tawaki.xml +++ b/conf/airframes/ENAC/fixed-wing/tawaki.xml @@ -5,10 +5,10 @@ - + @@ -31,6 +31,7 @@ + diff --git a/conf/airframes/ENAC/nucleo144_test.xml b/conf/airframes/ENAC/nucleo144_test.xml index f1dbd05b35..9ebd8aa833 100644 --- a/conf/airframes/ENAC/nucleo144_test.xml +++ b/conf/airframes/ENAC/nucleo144_test.xml @@ -4,10 +4,10 @@ - + @@ -25,6 +25,7 @@ + diff --git a/conf/airframes/ESDEN/esden_lisa2_hex.xml b/conf/airframes/ESDEN/esden_lisa2_hex.xml index 13e04d85d9..a5dbb92f9f 100644 --- a/conf/airframes/ESDEN/esden_lisa2_hex.xml +++ b/conf/airframes/ESDEN/esden_lisa2_hex.xml @@ -183,6 +183,7 @@ + diff --git a/conf/airframes/ESDEN/esden_qs_asp22.xml b/conf/airframes/ESDEN/esden_qs_asp22.xml index 75bb8fdb47..f1d572dea6 100644 --- a/conf/airframes/ESDEN/esden_qs_asp22.xml +++ b/conf/airframes/ESDEN/esden_qs_asp22.xml @@ -211,6 +211,7 @@ + diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml index bb3787ec9e..4d427c4bbb 100644 --- a/conf/airframes/FLIXR/flixr_conf.xml +++ b/conf/airframes/FLIXR/flixr_conf.xml @@ -29,7 +29,7 @@ telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml" - settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml" + settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml" gui_color="blue" /> + + + + diff --git a/conf/airframes/HOOPERFLY/hooperfly_conf.xml b/conf/airframes/HOOPERFLY/hooperfly_conf.xml index adc665be1a..e7026f3f57 100644 --- a/conf/airframes/HOOPERFLY/hooperfly_conf.xml +++ b/conf/airframes/HOOPERFLY/hooperfly_conf.xml @@ -29,7 +29,7 @@ telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml" settings="settings/rotorcraft_basic.xml" - settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml" + settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_int_quat.xml" gui_color="purple" /> + diff --git a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml index f4b943c2dd..e402e8e525 100644 --- a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml +++ b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml @@ -44,7 +44,8 @@ NOTES: - + + @@ -69,7 +70,7 @@ NOTES: - + @@ -91,7 +92,8 @@ NOTES: of nifty Galilleio setting we rather keep that so no autosetting now.--> - + + @@ -142,7 +144,8 @@ NOTES: - + + @@ -159,9 +162,11 @@ NOTES: --> - + + - + + @@ -195,7 +200,8 @@ NOTES: - + + @@ -237,11 +243,10 @@ NOTES: - - + + --> @@ -286,14 +291,16 @@ NOTES: - + + - + + @@ -302,17 +309,21 @@ NOTES: - + + - + + + - + + @@ -324,9 +335,11 @@ NOTES: - + + - + + @@ -345,7 +358,9 @@ NOTES: - + + + @@ -380,21 +395,24 @@ NOTES: - + + - + + - + + - + + - + + @@ -873,7 +893,8 @@ The most crucial part for the magnetometer calibration: - + + @@ -985,8 +1006,10 @@ The most crucial part for the magnetometer calibration:
- - + + + + diff --git a/conf/airframes/examples/bebop2_opticflow.xml b/conf/airframes/examples/bebop2_opticflow.xml index d3d9643485..db2fabcc13 100644 --- a/conf/airframes/examples/bebop2_opticflow.xml +++ b/conf/airframes/examples/bebop2_opticflow.xml @@ -29,7 +29,7 @@ - + --> diff --git a/conf/airframes/examples/matek_h743_slim.xml b/conf/airframes/examples/matek_h743_slim.xml index 7f4825cc2b..37ce831341 100644 --- a/conf/airframes/examples/matek_h743_slim.xml +++ b/conf/airframes/examples/matek_h743_slim.xml @@ -14,9 +14,9 @@ - + diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml index 73ba852151..4f666694e9 100644 --- a/conf/airframes/examples/quadshot_asp21_spektrum.xml +++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml @@ -237,7 +237,7 @@ - +
diff --git a/conf/airframes/examples/trashcan.xml b/conf/airframes/examples/trashcan.xml index bc3d8c4603..dbfe859c4a 100644 --- a/conf/airframes/examples/trashcan.xml +++ b/conf/airframes/examples/trashcan.xml @@ -45,7 +45,7 @@ - + diff --git a/conf/airframes/tudelft/ardrone2_indi.xml b/conf/airframes/tudelft/ardrone2_indi.xml index bd5fd162e3..afdebe0724 100644 --- a/conf/airframes/tudelft/ardrone2_indi.xml +++ b/conf/airframes/tudelft/ardrone2_indi.xml @@ -157,7 +157,7 @@ - + diff --git a/conf/airframes/tudelft/tudelft_bebop2_opticflow_sim.xml b/conf/airframes/tudelft/bebop2_opticflow_sim.xml similarity index 96% rename from conf/airframes/tudelft/tudelft_bebop2_opticflow_sim.xml rename to conf/airframes/tudelft/bebop2_opticflow_sim.xml index c232c30b40..844460349b 100644 --- a/conf/airframes/tudelft/tudelft_bebop2_opticflow_sim.xml +++ b/conf/airframes/tudelft/bebop2_opticflow_sim.xml @@ -30,7 +30,8 @@ --> - + + - - + + + + + diff --git a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml index a267f37f16..2dfae7ba2e 100644 --- a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml +++ b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml @@ -46,6 +46,11 @@ + + + + + diff --git a/conf/airframes/tudelft/bebop_course_orangeavoid.xml b/conf/airframes/tudelft/bebop_course_orangeavoid.xml index ef43aa8bd6..dbf66b6598 100644 --- a/conf/airframes/tudelft/bebop_course_orangeavoid.xml +++ b/conf/airframes/tudelft/bebop_course_orangeavoid.xml @@ -1,7 +1,7 @@ - Vision Course TUDelft V2019 + MAVLAB Course TUDelft 2023 @@ -110,12 +110,15 @@ + +
@@ -149,6 +152,7 @@
+ diff --git a/conf/airframes/tudelft/bebop_mav_course_exercise.xml b/conf/airframes/tudelft/bebop_mav_course_exercise.xml deleted file mode 100644 index 19aa8b1dfe..0000000000 --- a/conf/airframes/tudelft/bebop_mav_course_exercise.xml +++ /dev/null @@ -1,271 +0,0 @@ - - - - MAVLAB Course TUDelft - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- diff --git a/conf/airframes/tudelft/bebop_mavlink.xml b/conf/airframes/tudelft/bebop_mavlink.xml index 7214e85454..930f6e9816 100644 --- a/conf/airframes/tudelft/bebop_mavlink.xml +++ b/conf/airframes/tudelft/bebop_mavlink.xml @@ -42,6 +42,7 @@ + diff --git a/conf/airframes/tudelft/delfly_lisas.xml b/conf/airframes/tudelft/delfly_lisas.xml index 9a60fb9b7d..39c5447ca4 100644 --- a/conf/airframes/tudelft/delfly_lisas.xml +++ b/conf/airframes/tudelft/delfly_lisas.xml @@ -122,6 +122,7 @@ + diff --git a/conf/airframes/tudelft/disco_modified.xml b/conf/airframes/tudelft/disco_modified.xml index 1a9c10403f..0b2c093fa7 100644 --- a/conf/airframes/tudelft/disco_modified.xml +++ b/conf/airframes/tudelft/disco_modified.xml @@ -76,7 +76,7 @@ - + @@ -172,7 +172,7 @@ - + diff --git a/conf/airframes/tudelft/disco_rotorcraft_indi.xml b/conf/airframes/tudelft/disco_rotorcraft_indi.xml index 9cc90d0ac5..c6b1c14359 100644 --- a/conf/airframes/tudelft/disco_rotorcraft_indi.xml +++ b/conf/airframes/tudelft/disco_rotorcraft_indi.xml @@ -22,11 +22,11 @@ - + - + diff --git a/conf/airframes/tudelft/guido_ardrone2_optitrack.xml b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml index 37688c06a4..9a973a760a 100644 --- a/conf/airframes/tudelft/guido_ardrone2_optitrack.xml +++ b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml @@ -34,6 +34,7 @@ ARDrone2 with optical_flow landing. + diff --git a/conf/airframes/tudelft/iris_indi.xml b/conf/airframes/tudelft/iris_indi.xml index 33a06375f7..464cbfa2f9 100644 --- a/conf/airframes/tudelft/iris_indi.xml +++ b/conf/airframes/tudelft/iris_indi.xml @@ -11,7 +11,7 @@ 3DR IRIS - + @@ -62,9 +62,9 @@ - - - + + + @@ -96,6 +96,7 @@ +
diff --git a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml index 5c8fd95e94..83810890eb 100644 --- a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml +++ b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml @@ -169,6 +169,7 @@ + diff --git a/conf/airframes/tudelft/nederdrone4_tem.xml b/conf/airframes/tudelft/nederdrone4_tem.xml deleted file mode 100644 index 410f2f1ece..0000000000 --- a/conf/airframes/tudelft/nederdrone4_tem.xml +++ /dev/null @@ -1,361 +0,0 @@ - - - - - - Neddrone4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/tudelft/quadthopter.xml b/conf/airframes/tudelft/quadthopter.xml index 2f2b6d0416..343834e141 100644 --- a/conf/airframes/tudelft/quadthopter.xml +++ b/conf/airframes/tudelft/quadthopter.xml @@ -215,6 +215,7 @@ + diff --git a/conf/airframes/tudelft/robird.xml b/conf/airframes/tudelft/robird.xml index e4049708dc..e780dde9ea 100644 --- a/conf/airframes/tudelft/robird.xml +++ b/conf/airframes/tudelft/robird.xml @@ -10,7 +10,7 @@ Flapping wing frame equiped with - + @@ -59,9 +59,8 @@ Flapping wing frame equiped with - - - + + @@ -87,6 +86,7 @@ Flapping wing frame equiped with +
diff --git a/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml b/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml index 5ff276255f..aab0009d0e 100644 --- a/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml +++ b/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml @@ -1,6 +1,6 @@ - +
#include "modules/datalink/datalink.h"
diff --git a/conf/flight_plans/competitions/IMAV2022_drop.xml b/conf/flight_plans/competitions/IMAV2022_drop.xml index 2c3ba89d4d..4c2f0d486d 100644 --- a/conf/flight_plans/competitions/IMAV2022_drop.xml +++ b/conf/flight_plans/competitions/IMAV2022_drop.xml @@ -382,7 +382,7 @@ - + diff --git a/conf/flight_plans/competitions/IMAV2022_search.xml b/conf/flight_plans/competitions/IMAV2022_search.xml index 2cab330154..12a86b38aa 100644 --- a/conf/flight_plans/competitions/IMAV2022_search.xml +++ b/conf/flight_plans/competitions/IMAV2022_search.xml @@ -193,7 +193,7 @@ - + diff --git a/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml b/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml deleted file mode 100644 index 1ab7b2841e..0000000000 --- a/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml +++ /dev/null @@ -1,84 +0,0 @@ - - - -
-#include "autopilot.h" -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/flight_plans/tudelft/rotorcraft_guido_optitrack.xml b/conf/flight_plans/tudelft/rotorcraft_guido_optitrack.xml index c4032a77d4..35a102a71d 100644 --- a/conf/flight_plans/tudelft/rotorcraft_guido_optitrack.xml +++ b/conf/flight_plans/tudelft/rotorcraft_guido_optitrack.xml @@ -80,7 +80,7 @@ - + diff --git a/conf/modules/ahrs_int_cmpl_quat.xml b/conf/modules/ahrs_int_cmpl_quat.xml index 4901c69009..56e64d7396 100644 --- a/conf/modules/ahrs_int_cmpl_quat.xml +++ b/conf/modules/ahrs_int_cmpl_quat.xml @@ -24,6 +24,7 @@ + diff --git a/conf/modules/ins_flow.xml b/conf/modules/ins_flow.xml index b1e967976d..9df913a414 100644 --- a/conf/modules/ins_flow.xml +++ b/conf/modules/ins_flow.xml @@ -19,7 +19,7 @@ - @imu + @imu,@gps ahrs,ins
diff --git a/conf/modules/logger_sd_spi_direct.xml b/conf/modules/logger_sd_spi_direct.xml index 46f0cad52a..078a82474a 100644 --- a/conf/modules/logger_sd_spi_direct.xml +++ b/conf/modules/logger_sd_spi_direct.xml @@ -45,7 +45,7 @@ Downloading of the data occurs over the configured serial device using sw/logali
- + diff --git a/conf/modules/optical_flow_landing.xml b/conf/modules/optical_flow_landing.xml index 1fc80a203b..6e08563f10 100644 --- a/conf/modules/optical_flow_landing.xml +++ b/conf/modules/optical_flow_landing.xml @@ -76,6 +76,10 @@ + + cv_textons + +
diff --git a/conf/userconf/OPENUAS/openuas_conf.xml b/conf/userconf/OPENUAS/openuas_conf.xml index ef6016ed20..a3daf6219e 100644 --- a/conf/userconf/OPENUAS/openuas_conf.xml +++ b/conf/userconf/OPENUAS/openuas_conf.xml @@ -7,7 +7,7 @@ telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml" flight_plan="flight_plans/OPENUAS/openuas_versatile_unified.xml" settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml] [settings/control/tune_agr_climb.xml] [settings/control/ctl_energyadaptive.xml] settings/control/ctl_new.xml" - settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/photogrammetry_calculator.xml modules/geo_mag.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_adaptive_fw.xml" + settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/photogrammetry_calculator.xml modules/stabilization_adaptive_fw.xml modules/tune_airspeed.xml" gui_color="white" /> diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml index dc93047def..af3b1fa7f6 100644 --- a/conf/userconf/tudelft/conf.xml +++ b/conf/userconf/tudelft/conf.xml @@ -560,4 +560,15 @@ settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml" gui_color="blue" /> + diff --git a/conf/userconf/tudelft/delfly_conf.xml b/conf/userconf/tudelft/delfly_conf.xml index feef552f84..a06e7b98d8 100644 --- a/conf/userconf/tudelft/delfly_conf.xml +++ b/conf/userconf/tudelft/delfly_conf.xml @@ -20,6 +20,5 @@ 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" gui_color="blue" - release="bd49f8763f106f69dc87ad735c8bd6ff277a3f62" /> diff --git a/conf/userconf/tudelft/guido_conf.xml b/conf/userconf/tudelft/guido_conf.xml index 73624c7cc6..4ca87384d3 100644 --- a/conf/userconf/tudelft/guido_conf.xml +++ b/conf/userconf/tudelft/guido_conf.xml @@ -7,7 +7,7 @@ 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/cv_opticflow.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" + settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/cv_textons.xml modules/electrical.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" gui_color="#fffff996b847" /> diff --git a/sw/airborne/arch/sim/modules/actuators/actuators_dshot_arch.c b/sw/airborne/arch/sim/modules/actuators/actuators_dshot_arch.c index 057e213ab1..7b947e16a7 100644 --- a/sw/airborne/arch/sim/modules/actuators/actuators_dshot_arch.c +++ b/sw/airborne/arch/sim/modules/actuators/actuators_dshot_arch.c @@ -27,7 +27,7 @@ #include "modules/actuators/actuators_dshot.h" -uint16_t actuators_dshot_values[ACTUATORS_DSHOT_NB]; +struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB]; void actuators_dshot_arch_init(void) {} diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c index 55a5fc48e5..f4e34369a3 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c @@ -220,7 +220,6 @@ void guidance_indi_init(void) */ void guidance_indi_enter(void) { /*Obtain eulers with zxy rotation order*/ - struct FloatEulers eulers_zxy; float_eulers_of_quat_zxy(&eulers_zxy, stateGetNedToBodyQuat_f()); nav.heading = eulers_zxy.psi; diff --git a/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c index bb8cc73c06..4bcd5e8f70 100644 --- a/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c +++ b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c @@ -43,12 +43,16 @@ PRINT_CONFIG_MSG("LOW PASS FILTER ON GYRO RATES") #endif +#ifdef AHRS_FLOATING_HEADING +PRINT_CONFIG_MSG("No heading feedback in AHRS: FLOATING HEADING") +#endif + #if USE_MAGNETOMETER && AHRS_USE_GPS_HEADING #warning "Using both magnetometer and GPS course to update heading. Probably better to configure USE_MAGNETOMETER=0 if you want to use GPS course." #endif -#if !USE_MAGNETOMETER && !AHRS_USE_GPS_HEADING -#warning "Please use either USE_MAGNETOMETER or AHRS_USE_GPS_HEADING." +#if !USE_MAGNETOMETER && !AHRS_USE_GPS_HEADING &&!AHRS_FLOATING_HEADING +#warning "Please use either USE_MAGNETOMETER, AHRS_USE_GPS_HEADING or accept AHRS_FLOATING_HEADING." #endif #if AHRS_USE_GPS_HEADING && !USE_GPS diff --git a/sw/airborne/modules/computer_vision/textons.c b/sw/airborne/modules/computer_vision/textons.c index 3cc0957913..242ea2a1c0 100644 --- a/sw/airborne/modules/computer_vision/textons.c +++ b/sw/airborne/modules/computer_vision/textons.c @@ -139,8 +139,8 @@ static FILE *dictionary_logger = NULL; * @param[out] *img The output image * @param[in] *img The input image (YUV422) */ -struct image_t *texton_func(struct image_t *img, uint8_t p); -struct image_t *texton_func(struct image_t *img, uint8_t p) +struct image_t *texton_func(struct image_t *img, UNUSED uint8_t p); +struct image_t *texton_func(struct image_t *img, UNUSED uint8_t p) { // whether to execute the function: if (!running) { return img; } @@ -286,7 +286,7 @@ void DictionaryTrainingYUV(uint8_t *frame, uint16_t width, uint16_t height) } // Extract and learn from n_samples_image per image - for (s = 0; s < n_samples_image; s++) { + for (s = 0; s < (int) n_samples_image; s++) { // select a random sample from the image x = rand() % (width - patch_size); y = rand() % (height - patch_size); @@ -446,7 +446,7 @@ void DistributionExtraction(uint8_t *frame, uint16_t width, uint16_t height) texton_distribution[assignment]++; n_extracted_textons++; - if (!FULL_SAMPLING && n_extracted_textons == n_samples_image) { + if (!FULL_SAMPLING && n_extracted_textons == (int) n_samples_image) { finished = 1; } else { // FULL_SAMPLING is actually a sampling that covers the image: diff --git a/sw/airborne/modules/ctrl/optical_flow_landing.c b/sw/airborne/modules/ctrl/optical_flow_landing.c index c8cb6d39cb..40c75262ae 100644 --- a/sw/airborne/modules/ctrl/optical_flow_landing.c +++ b/sw/airborne/modules/ctrl/optical_flow_landing.c @@ -330,7 +330,7 @@ void vertical_ctrl_module_init(void) of_landing_ctrl.vel = 0.0f; of_landing_ctrl.divergence_setpoint = 0.0f; // For exponential gain landing, pick a negative value of_landing_ctrl.cov_set_point = OFL_COV_SETPOINT; - of_landing_ctrl.cov_limit = fabsf(OFL_COV_LANDING_LIMIT); + of_landing_ctrl.cov_limit = fabsf((float)OFL_COV_LANDING_LIMIT); of_landing_ctrl.lp_const = OFL_LP_CONST; Bound(of_landing_ctrl.lp_const, 0.001f, 1.f); of_landing_ctrl.pgain = OFL_PGAIN; @@ -1125,7 +1125,7 @@ void guidance_h_module_enter(void) } -void guidance_h_module_run(bool in_flight) +void guidance_h_module_run(bool UNUSED in_flight) { } @@ -1248,7 +1248,7 @@ void learn_from_file(void) printf("Learned! Fit error = %f\n", fit_error); // free learning distributions: - for (i = 0; i < n_read_samples; i++) { + for (i = 0; i < (int) n_read_samples; i++) { free(text_dists[i]); } } @@ -1312,7 +1312,7 @@ void recursive_least_squares_batch(float *targets, float **samples, uint8_t D, u (*fit_error) = sum_abs_err / count; } -void recursive_least_squares(float target, float *sample, uint8_t length_sample, float *params) +void recursive_least_squares(float target, float *sample, uint8_t length_sample, UNUSED float *params) { // MATLAB procedure: /* diff --git a/sw/airborne/modules/ins/ins_flow.c b/sw/airborne/modules/ins/ins_flow.c index 4824f5951b..e1d9445f11 100644 --- a/sw/airborne/modules/ins/ins_flow.c +++ b/sw/airborne/modules/ins/ins_flow.c @@ -673,7 +673,7 @@ void ins_reset_local_origin(void) void ins_optical_flow_cb(uint8_t sender_id UNUSED, uint32_t stamp, int32_t flow_x UNUSED, int32_t flow_y UNUSED, - int32_t flow_der_x, int32_t flow_der_y, float quality UNUSED, float size_divergence) + int32_t flow_der_x UNUSED, int32_t flow_der_y UNUSED, float quality UNUSED, float size_divergence) { // TODO: make parameters: @@ -1467,7 +1467,7 @@ static void set_body_state_from_quat(void) } -static void ins_rpm_cb(uint8_t sender_id, struct rpm_act_t *rpm_msg, uint8_t num_act) +static void ins_rpm_cb(uint8_t sender_id UNUSED, struct rpm_act_t *rpm_msg, uint8_t num_act) { ins_flow.RPM_num_act = num_act; for (int i = 0; i < num_act; i++) { @@ -1478,7 +1478,7 @@ static void ins_rpm_cb(uint8_t sender_id, struct rpm_act_t *rpm_msg, uint8_t num /* Update INS based on GPS information */ static void gps_cb(uint8_t sender_id __attribute__((unused)), - uint32_t stamp, + uint32_t stamp UNUSED, struct GpsState *gps_s) { diff --git a/sw/airborne/modules/px4_flash/px4_flash.c b/sw/airborne/modules/px4_flash/px4_flash.c index 974d989b2f..f6ed78601b 100644 --- a/sw/airborne/modules/px4_flash/px4_flash.c +++ b/sw/airborne/modules/px4_flash/px4_flash.c @@ -37,6 +37,10 @@ #include "led.h" #include "mcu_arch.h" +#ifdef STM32_MCU_ARCH_H // scb_reset_system from OpenCM3 +#include +#endif + #include "mcu_periph/sys_time.h" #ifdef INTER_MCU_AP tid_t px4iobl_tid; ///< id for time out of the px4 bootloader reset diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c index 0afb39738f..dd728a7a7d 100644 --- a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c +++ b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c @@ -34,6 +34,10 @@ #include "mcu_periph/uart.h" #include "mcu_periph/gpio.h" +#ifdef RADIO_CONTROL_BIND_IMPL_FUNC +#include "modules/radio_control/spektrum.h" +#endif + void spektrum_soft_bind_init(void) { diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c index d3b6fca960..26e679b48a 100644 --- a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c +++ b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c @@ -31,6 +31,10 @@ #include "mcu_periph/gpio.h" +#ifdef RADIO_CONTROL_BIND_IMPL_FUNC +#include "modules/radio_control/spektrum.h" +#endif + void spektrum_soft_bind_init(void) { diff --git a/sw/airborne/modules/stereocam/stereocam.c b/sw/airborne/modules/stereocam/stereocam.c index 912bf79450..05e57ce30d 100644 --- a/sw/airborne/modules/stereocam/stereocam.c +++ b/sw/airborne/modules/stereocam/stereocam.c @@ -64,7 +64,7 @@ // general stereocam definitions #if !defined(STEREO_BODY_TO_STEREO_PHI) || !defined(STEREO_BODY_TO_STEREO_THETA) || !defined(STEREO_BODY_TO_STEREO_PSI) -#warning "STEREO_BODY_TO_STEREO_XXX not defined. Using default Euler rotation angles (0,0,0)" +#pragma message "STEREO_BODY_TO_STEREO_XXX not defined. Using default Euler rotation angles (0,0,0)" #endif #ifndef STEREO_BODY_TO_STEREO_PHI diff --git a/sw/airborne/test/test_can.c b/sw/airborne/test/test_can.c index 8ac812b8a0..f798c8ad7a 100644 --- a/sw/airborne/test/test_can.c +++ b/sw/airborne/test/test_can.c @@ -34,7 +34,8 @@ static inline void main_init(void); static inline void main_periodic_task(void); static inline void main_event_task(void); -void main_on_can_msg(uint32_t id, uint8_t *data, int len); +void main_on_can_msg(uint32_t id, uint8_t *data, uint8_t len); + uint8_t tx_data[8]; uint8_t rx_data[8]; @@ -124,7 +125,7 @@ static inline void main_event_task(void) } -void main_on_can_msg(uint32_t id __attribute__((unused)), uint8_t *data, int len __attribute__((unused))) +void main_on_can_msg(uint32_t id UNUSED, uint8_t *data, uint8_t len UNUSED) { for (int i = 0; i < 8; i++) { rx_data[i] = data[i]; diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml index d5f3fae4ca..f3ae8af6d4 100644 --- a/sw/tools/generators/gen_flight_plan.ml +++ b/sw/tools/generators/gen_flight_plan.ml @@ -1065,7 +1065,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file -> else if geofence_max_alt < (float_of_string alt) then fprintf stderr "\nWarning: Geofence max altitude below default waypoint alt (%.0f < %.0f)\n" geofence_max_alt (float_of_string alt); Xml2h.define_out out "GEOFENCE_MAX_ALTITUDE" (sof geofence_max_alt); - fprintf stderr "\nInfo: Geofence max altitude set to %.0f\n" geofence_max_alt; + fprintf stderr "\nNOTICE: Geofence max altitude set to %.0f\n" geofence_max_alt; with _ -> () end; @@ -1086,7 +1086,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file -> else if (geofence_max_height +. !ground_alt) < (float_of_string alt) then fprintf stderr "\nWarning: Geofence max AGL below default waypoint AGL (%.0f < %.0f)\n" (geofence_max_height +. !ground_alt) (float_of_string alt); Xml2h.define_out out "GEOFENCE_MAX_HEIGHT" (sof geofence_max_height); - fprintf stderr "\nWarning: Geofence max AGL set to %.0f\n" geofence_max_height; + fprintf stderr "\nNOTICE: Geofence max AGL set to %.0f\n" geofence_max_height; with _ -> () end;