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[control] rework the stabilization for rotorcraft (#3248)

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Introducing several changes to the control stask for the stabilization:
- new structures: stabilization, stab (att and/or rates) and thrust (vector)
- more functional approach: stabilization receives the stab and thrust
  setpoints from guidance and fill command vector at the end
- modes and sub-modes are redefined (split stab and guidance modes),
  some AP modes are removed (FLIP and MODULE)
- RC read functions are removed and replaced by ABI bindings, one for
  each part (AP, stab, guidance_h, guidance_v) with dedicated functions
- transition ratio (float in [0-1]) replace transition_percentage (int)
- the AP_MODULE mode is replaced by generated autopilot
- the ABI hack for guidance indi is not needed anymore
- AP generator supports a new 'store' attribute to use return values of
  functions
- cleaning of the stabilization API (for setter functions)
This commit is contained in:
Gautier Hattenberger
2024-05-21 17:01:38 +02:00
committed by GitHub
parent f41c32a4bf
commit ce7fe4c23f
116 changed files with 2280 additions and 2533 deletions
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conf/userconf/tudelft/conf.xml
+1 -1
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@@ -469,7 +469,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
<aircraft