Convergence rebase (#2946)

* Added disco_rotorcraft airframefile to be able to fly hybrid code

* Created files (airframe and flightplan) and added bebop_convergence to tudelft conf

* allow higher version bebop

* logging motor commands and accel bebop2

* Updated hybrid guidance indi  variables for bebop2

* improvements

* Prepared bebop2 airframe for cyberzoo test

* Flying bebop in the cyberzoo

* increase outer loop gains

* bebop2 jsbsim file

* no failsafe thrust for rotorcraft

* use ekf2 for bebop2

* Prepared flightplan for outside test

* fix static heading

* Added disco_convergence

* Updated hybrid guidance with extra variables as macro for convergence test

* extended logger with nav target

* typo with the nav_target

* fix thrust estimate

* no ctrl eff scheduling

* Flown code Valkenburg

* Tuned Disco convergence and added nps sim

* 24-06-2021 flown disco code, noise on thrust

* Updated disco flight plan to increase and decrease altitude 20 meters in flight

* change thrust effectiveness

* cleanup

* logger default freq, lexer, etc.

* further small improvments

* lower frequency for AHRS_REF_QUAT

* use more lexer

Co-authored-by: Dennis van Wijngaarden <wijngaarden.dennis@gmail.com>

conf/modules/actuators_disco.xml

@@ -10,6 +10,7 @@
     <depends>i2c,actuators</depends>
     <provides>actuators</provides>
   </dep>
+  <autoload name="actuators" type="nps"/>
   <header>
     <file name="actuators.h" dir="boards/disco"/>
   </header>

conf/modules/logger_file.xml

@@ -7,13 +7,16 @@
       (only for linux)
     </description>
     <define name="FILE_LOGGER_PATH" value="/data/video/usb" description="path where csv file is saved."/>
+    <configure name="FILE_LOGGER_FREQUENCY" value="PERIODIC_FREQUENCY" description="frequency of logging, defaults to PERIODIC_FREQUENCY."/>
   </doc>
   <header>
-	<file name="file_logger.h" />
+	<file name="file_logger.h"/>
   </header>
   <periodic fun="file_logger_periodic()" start="file_logger_start()"
-		    stop="file_logger_stop()" autorun="FALSE" period="0.01" />
+		    stop="file_logger_stop()" autorun="FALSE" freq="FILE_LOGGER_FREQUENCY" />
   <makefile>
-	<file name="file_logger.c"/>
+    <file name="file_logger.c"/>
+    <configure name="FILE_LOGGER_FREQUENCY" default="PERIODIC_FREQUENCY"/>
+    <define name="FILE_LOGGER_FREQUENCY" value="$(FILE_LOGGER_FREQUENCY)"/>
   </makefile>
 </module>