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UAVCAN telemetry (#3129)

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* UAVCAN telemetry

* [modules] Actuator feedback rewrite

---------

Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
This commit is contained in:
Christophe De Wagter
2023-10-04 16:29:40 +02:00
committed by GitHub
parent db4c67d64a
commit 5b254269fc
33 changed files with 221 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/quadrotor/bebop2_fish.xml
+1 -1
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@@ -28,7 +28,7 @@
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="CLIMB_VSPEED" value="0.8"/>
<define name="STABILIZATION_INDI_G1_P" value="0.05"/>
<define name="STABILIZATION_INDI_G1_Q" value="0.025"/>
conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
+1 -1
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@@ -24,7 +24,7 @@
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="CLIMB_VSPEED" value="0.8"/>
<define name="STABILIZATION_INDI_G1_P" value="0.05"/>
<define name="STABILIZATION_INDI_G1_Q" value="0.025"/>
conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
+2 -2
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@@ -185,7 +185,7 @@
<module name="udp"/>
<!-- INDI RPM feedback not implemented in sim, will it be YOU who adds this? TIA! -->
<module name="stabilization" type="indi_simple">
<define name="INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="FALSE"/>
</module>
<!--<module name="uart"/>--><!-- TODO: Exteral HITL PC debugging e.g test external device triggering while mission flying in sim -->
@@ -231,7 +231,7 @@
<module name="stabilization" type="indi_simple"/>
<!-- for later if simple works we then need to add RPM feedback... a big effort :(
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>-->
<!--<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
+1
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@@ -61,6 +61,7 @@
<module name="pwm_meas.xml"/> <!-- To be able to measure PWM pulses -->
<module name="rpm_sensor.xml">
<define name="RPM_PULSE_PER_RND" value="18"/><!-- TODO: determine correct value for this specific setup -->
<define name="RPM_SENSOR_ACTUATOR_IDX" value="0"/>
</module>
<module name="ins"/>
</target>
conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
+1 -1
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@@ -145,7 +145,7 @@
<module name="stabilization" type="indi_simple"/>
<!-- for later if simple works
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>-->
<!--<module name="guidance" type="indi"/>--><!-- for later if classic works-->
conf/airframes/OPENUAS/openuas_parrot_bebop.xml
+1 -1
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@@ -65,7 +65,7 @@
<module name="stabilization" type="rate_indi"/>
<!--<module name="stabilization" type="indi_simple"/>--><!-- not used ATM -->
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
+2 -2
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@@ -134,7 +134,7 @@
<module name="udp"/>
<!-- INDI RPM feedback not implemented in sim, will it be YOU who adds this? TIA! -->
<module name="stabilization" type="indi_simple">
<define name="INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="FALSE"/>
</module>
<!--<module name="uart"/>--><!-- TODO: Exteral HITL PC debugging e.g test external device triggering while mission flying in sim -->
@@ -182,7 +182,7 @@
<module name="stabilization" type="indi_simple"/>
<!-- for later if simple works we then need to add RPM feedback... a big effort :(
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>-->
<!--<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
conf/airframes/tudelft/bebop2_indi.xml
+1 -1
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@@ -19,7 +19,7 @@
<module name="imu" type="bebop"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
conf/airframes/tudelft/bebop2_no_damping.xml
+1 -1
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@@ -6,7 +6,7 @@
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</target>
<target name="nps" board="pc">
conf/airframes/tudelft/bebop2_no_damping_WLS.xml
+1 -1
View File
@@ -6,7 +6,7 @@
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</target>
<target name="nps" board="pc">
conf/airframes/tudelft/bebop_indi_actuators.xml
+2 -2
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@@ -6,13 +6,13 @@
<firmware name="rotorcraft">
<target name="ap" board="bebop">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="INDI_RPM_FEEDBACK" value="FALSE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="FALSE"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
conf/airframes/tudelft/bebop_opticflow_indoor.xml
+1 -1
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@@ -18,7 +18,7 @@
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
+1 -1
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@@ -26,7 +26,7 @@ pyramid level 2: 21 fps average, min=11fps
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
conf/airframes/tudelft/bebop_optitrack.xml
+1 -1
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@@ -20,7 +20,7 @@
<module name="stabilization" type="indi">
<define name="WLS_N_U" value="4"/>
<define name="WLS_N_V" value="4"/>
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
</module>
<module name="ahrs" type="int_cmpl_quat">
<!-- Use the optitrack heading instead of magnetometer -->
conf/airframes/tudelft/fan_demo.xml
+1 -1
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@@ -19,7 +19,7 @@
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
<define name="WLS_N_U" value="4"/>
<define name="WLS_N_V" value="4"/>
</module>
conf/airframes/tudelft/outback.xml
+3 -1
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@@ -38,7 +38,9 @@
<module name="opa_controller"/>
<module name="mag_pitot_uart" />
<module name="pwm_meas"/>
<module name="rpm_sensor"/>
<module name="rpm_sensor">
<define name="RPM_SENSOR_ACTUATOR_IDX" value="0"/>
</module>
<module name="geo_mag"/>
<module name="air_data">