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[module] parachute (#3273)

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This commit is contained in:
Christophe De Wagter
2024-05-23 11:15:42 +02:00
committed by GitHub
parent 35e90b5d2d
commit b29b94d811
11 changed files with 225 additions and 3 deletions
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conf/airframes/tudelft/rot_wing_v3b.xml
+2
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@@ -102,6 +102,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/airframes/tudelft/rot_wing_v3d.xml
+2
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@@ -89,6 +89,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/airframes/tudelft/rot_wing_v3e.xml
+2
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@@ -89,6 +89,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/airframes/tudelft/rot_wing_v3f.xml
+2
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@@ -89,6 +89,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/airframes/tudelft/rot_wing_v3g.xml
+2
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@@ -89,6 +89,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/airframes/tudelft/rot_wing_v3h.xml
+2
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@@ -89,6 +89,8 @@
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<module name="parachute"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
conf/modules/parachute.xml
+23
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@@ -0,0 +1,23 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="parachute" dir="safety">
<doc>
<description>This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan. Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.</description>
<section name="PARACHUTE" prefix="PARACHUTE_">
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="RotWingState">
<dl_setting var="parachute.arming_method" min="0" step="1" max="2" values="OFF|AUTO|ALWAYS ON" shortname="arming"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="parachute.h"/>
</header>
<init fun="init_parachute()"/>
<periodic fun="periodic_parachute()" freq="50"/>
<makefile>
<file name="parachute.c"/>
</makefile>
</module>
conf/telemetry/highspeed_rotorcraft.xml
+3 -2
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@@ -42,7 +42,7 @@
<message name="AHRS_BIAS" period="7.5"/>
<message name="HOVER_LOOP" period="0.3"/>
<message name="GUIDANCE_H_REF_INT" period="0.31"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.4"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.4"/>
<message name="HYBRID_GUIDANCE" period="0.4"/>
<message name="ESC" period="0.5"/>
<message name="AHRS_REF_QUAT" period="0.1"/>
@@ -56,7 +56,7 @@
<message name="ROTATING_WING_STATE" period="0.2"/>
<message name="ACTUATORS" period="0.02"/>
<message name="EFF_MAT_G" period="0.02"/>
<message name="GUIDANCE" period="0.02"/>
<message name="GUIDANCE" period="0.02"/>
<message name="STAB_ATTITUDE" period="0.02"/>
<message name="ROTORCRAFT_CMD" period="0.2"/>
<message name="DEBUG_VECT" period="0.2"/>
@@ -261,6 +261,7 @@
<message name="EXTERNAL_POSE_DOWN" period="0.002"/>
<message name="ROTATING_WING_STATE" period="0.1"/>
<message name="DOUBLET" period="0.002"/>
<message name="DEBUG" period="0.02"/> <!-- For the parachute module -->
</mode>
</process>
conf/userconf/tudelft/conf.xml
+1 -1
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@@ -590,7 +590,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.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/ekf_aw.xml modules/electrical.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/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.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/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.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/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft