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Code Issues Actions 28 Packages Projects Releases Wiki Activity

Oneloop Controller updates (#3405)

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This commit is contained in:
Tomaso Maria Luigi De Ponti
2024-11-01 17:58:50 +01:00
committed by GitHub
parent 1f08f638ce
commit 67edd8ab68
21 changed files with 1393 additions and 251 deletions
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conf/userconf/tudelft/RW_control_panel.xml
+18 -15
View File
@@ -1124,6 +1124,16 @@
</program>
<program name="Server"/>
</session>
<session name="RW25">
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="PprzGCS"/>
<program name="RotWingStatus"/>
<program name="Wind"/>
</session>
<session name="RW3C_Simulation">
<program name="PprzGCS"/>
<program name="Server">
@@ -1448,7 +1458,8 @@
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att[1]:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att_ref[1]:57.325"/>
<arg flag="-c" constant="45"/>
<arg flag="-c" constant="-45"/>
<arg flag="-c"/>
<arg flag="-45"/>
<arg flag="-g" constant="1050x300+0+300"/>
</program>
<program name="Real-time Plotter">
@@ -1456,7 +1467,8 @@
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="phi"/>
<arg flag="-c" constant="45"/>
<arg flag="-c" constant="-45"/>
<arg flag="-c"/>
<arg flag="-45"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att[0]:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att_ref[0]:57.325"/>
<arg flag="-g" constant="1050x300+0+0"/>
@@ -1466,7 +1478,8 @@
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="psi"/>
<arg flag="-c" constant="180"/>
<arg flag="-c" constant="-180"/>
<arg flag="-c"/>
<arg flag="-180"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att[2]:57.325"/>
<arg flag="-c" constant="*:telemetry:STAB_ATTITUDE:att_ref[2]:57.325"/>
<arg flag="-g" constant="1050x300+0+600"/>
@@ -1497,8 +1510,8 @@
<arg flag="-m" constant="1000"/>
<arg flag="-u" constant="0.05"/>
<arg flag="-t" constant="Skew"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:wing_angle_deg"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:wing_angle_deg_sp"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:meas_skew_angle"/>
<arg flag="-c" constant="*:telemetry:ROTATING_WING_STATE:sp_skew_angle"/>
<arg flag="-g" constant="1050x300+0+1500"/>
</program>
<program name="Environment Simulator"/>
@@ -1506,15 +1519,5 @@
<arg flag="-g" constant="1050x300+0+1000"/>
</program>
</session>
<session name="RW25">
<program name="Data Link">
<arg flag="-udp"/>
</program>
<program name="Server"/>
<program name="Messages"/>
<program name="PprzGCS"/>
<program name="RotWingStatus"/>
<program name="Wind"/>
</session>
</section>
</control_panel>
conf/userconf/tudelft/conf.xml
+7 -7
View File
@@ -585,12 +585,12 @@
<aircraft
name="RotatingWingV3G"
ac_id="11"
airframe="airframes/tudelft/rotwing_v3g.xml"
airframe="airframes/tudelft/rotwing_v3g_oneloop_optitrack.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotwing_EHR8.xml"
telemetry="telemetry/oneloop_telemetry.xml"
flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state.xml"
gui_color="red"
/>
<aircraft
@@ -642,10 +642,10 @@
ac_id="198"
airframe="airframes/tudelft/rotwing_v3c_oneloop_simulation.xml"
radio="radios/dummy.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/oneloop_valkenburg.xml"
telemetry="telemetry/oneloop_telemetry.xml"
flight_plan="flight_plans/tudelft/oneloop_cyberzoo.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.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/imu_heater.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state_V2.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/eff_scheduling_rotwing_V2.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/imu_heater.xml modules/ins_ekf2.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/oneloop_andi.xml modules/rotwing_state.xml"
gui_color="#ffffcccaccca"
/>
<aircraft