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Fix make test_all_confs (#3599)
* Hide 'no-overloaded-virtual' warnings inside JSBSim itself * Cleanup link to non-existing * Cleanup old airframes * Fix: might be used uninitialized * Fix MAVLink * Cleanup * DSDL compile error: new empy does not accept @)
This commit is contained in:
Christophe De Wagter
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GitHub
GitHub
parent
4df9b5907b
commit
d13141477d
@@ -1,229 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop_indi">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop">
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<define name="STABILIZATION_INDI_G2_R" value="0.1450"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="udp"/>
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<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="furuno"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="float_mlkf"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
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</module>
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<module name="ins" type="extended"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<!--module name="logger_file">
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<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
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</module-->
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<module name="bebop_cam"/>
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<module name="cv_blob_locator">
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<define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
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<define name="DETECT_WINDOW_CAMERA" value="bottom_camera"/>
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</module>
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<module name="video_rtp_stream">
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<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
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<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
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<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="2"/>
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</module>
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<module name="nav" type="survey_rectangle_rotorcraft">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</module>
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<module name="nav" type="survey_poly_rotorcraft">
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<define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
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</module>
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<module name="video_capture">
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<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
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</module>
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<module name="digital_cam_video">
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<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
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</module>
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<module name="video_exif"/>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
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<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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<include href="conf/airframes/tudelft/calibrations/bebop8.xml"/>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Toulouse -->
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<!--define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/-->
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="300" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.0639"/>
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<define name="G1_Q" value="0.0361"/>
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<define name="G1_R" value="0.0022"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="600.0"/>
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<define name="REF_ERR_Q" value="600.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="28.0"/>
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<define name="REF_RATE_Q" value="28.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ_P" value="53.9"/>
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<define name="ACT_FREQ_Q" value="53.9"/>
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<define name="ACT_FREQ_R" value="53.9"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="15"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="2.5"/>
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<define name="DESCEND_VSPEED" value="-1.0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -1,13 +0,0 @@
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<conf>
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<aircraft
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name="Bebop2_stereo"
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ac_id="204"
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airframe="airframes/KS/ks_bebop2_stereo.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_optitrack.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
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gui_color="#ffff00000000"
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/>
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</conf>
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@@ -1,223 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="bebop2_opticflow">
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<autopilot name="rotorcraft_autopilot"/>
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2">
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<module name="stabilization" type="indi_simple"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="gazebo"/>
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<module name="stabilization" type="int_quat"/>
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</target>
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module>
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<module name="ins" type="hff_extended"/>
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<module name="stereocam">
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<configure name="STEREO_UART" value="UART2"/>
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</module>
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</firmware>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="REVERSE" value="TRUE"/>
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="stereocam" prefix="STEREO_">
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<define name="BODY_TO_STEREO_PHI" value="90." unit="deg"/>
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<define name="BODY_TO_STEREO_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_STEREO_PSI" value="90." unit="deg"/>
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</section>
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<!-- Magnetometer still needs to be calibrated -->
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
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<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
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<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!--define name="GRAVITY_HEURISTIC_FACTOR" value="0"/-->
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="USE_GPS_ALT" value="1"/>
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<!-- trust GPS a lot: -->
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<define name="VFF_R_GPS" value="0.01"/>
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<define name="VFF_VZ_R_GPS" value="0.01"/>
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</section>
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoint limits for attitude stabilization rc flight -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="300" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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</section>
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
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<!-- attitude reference generation model -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="850"/>
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<define name="PHI_DGAIN" value="425"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="850"/>
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<define name="THETA_DGAIN" value="425"/>
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<define name="THETA_IGAIN" value="0"/>
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|
||||
<define name="PSI_PGAIN" value="1000"/>
|
||||
<define name="PSI_DGAIN" value="700"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
|
||||
<!-- control effectiveness, can be obtained by switching on "adaptive" in the indi settings -->
|
||||
<define name="G1_P" value="0.100"/>
|
||||
<define name="G1_Q" value="0.050"/>
|
||||
<define name="G1_R" value="0.0010"/>
|
||||
<define name="G2_R" value="0.236"/>
|
||||
|
||||
<!-- reference acceleration for attitude control -->
|
||||
<define name="REF_ERR_P" value="600.0"/>
|
||||
<define name="REF_ERR_Q" value="600.0"/>
|
||||
<define name="REF_ERR_R" value="600.0"/>
|
||||
<define name="REF_RATE_P" value="28.0"/>
|
||||
<define name="REF_RATE_Q" value="28.0"/>
|
||||
<define name="REF_RATE_R" value="28.0"/>
|
||||
|
||||
<!-- second order filter parameters -->
|
||||
<define name="FILT_CUTOFF" value="3.2"/>
|
||||
|
||||
<!-- first order actuator dynamics -->
|
||||
<define name="ACT_FREQ_P" value="31.7"/>
|
||||
<define name="ACT_FREQ_Q" value="31.7"/>
|
||||
<define name="ACT_FREQ_R" value="31.7"/>
|
||||
|
||||
<!-- Adaptive Learning Rate -->
|
||||
<define name="USE_ADAPTIVE" value="FALSE"/>
|
||||
<define name="ADAPTIVE_MU" value="0.0001"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="350"/>
|
||||
<define name="HOVER_KD" value="85"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.52"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
|
||||
<define name="MAX_BANK" value="35" unit="deg"/>
|
||||
<define name="PGAIN" value="82"/> <!-- GPS: 120 no GPS: 0-->
|
||||
<define name="DGAIN" value="68"/> <!-- GPS: 80 no GPS: 302-->
|
||||
<define name="IGAIN" value="10"/> <!-- GPS: 30 no GPS: 0-->
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.0"/>
|
||||
<define name="DESCEND_VSPEED" value="-0.75"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||
|
||||
<define name="GAZEBO_AC_NAME" value="simple_x_quad" type="string"/>
|
||||
<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
|
||||
<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="float[]"/>
|
||||
|
||||
<!--define name="DEBUG_STEREOCAM" value="1"/-->
|
||||
<!--define name="NO_GPS" value="1"/-->
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
|
||||
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
|
||||
@@ -1,205 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="ardrone2">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="ardrone2"/>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="gazebo"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_SONAR" value="TRUE"/>
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="ardrone2"/>
|
||||
<module name="imu" type="ardrone2"/>
|
||||
<!-- gps: "ublox" or change to "sirf" for usage with parrot flight recorder -->
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
|
||||
<module name="air_data"/>
|
||||
<module name="geo_mag"/>
|
||||
|
||||
<module name="video_thread"/>
|
||||
|
||||
<module name="cv_opticflow">
|
||||
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit-->
|
||||
<define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
|
||||
<!-- ARDrone2 FPS improvements - Remaining in sync with real life-->
|
||||
<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
|
||||
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
|
||||
</module>
|
||||
|
||||
<module name="cv_colorfilter">
|
||||
<define name="COLORFILTER_CAMERA" value="front_camera"/>
|
||||
<!--define name="COLORFILTER_SEND_OBSTACLE" value="TRUE"/--> <!-- If you want to test out the guided flightplan, uncomment this define-->
|
||||
</module>
|
||||
|
||||
<module name="video_rtp_stream">
|
||||
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
|
||||
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
|
||||
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
|
||||
</module>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<!-- Toulouse -->
|
||||
<define name="H_X" value="0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value="0.858336"/>
|
||||
<!-- Delft -->
|
||||
<!--define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/ -->
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="600" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="850"/>
|
||||
<define name="PHI_DGAIN" value="425"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="850"/>
|
||||
<define name="THETA_DGAIN" value="425"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="1000"/>
|
||||
<define name="PSI_DGAIN" value="700"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="460"/>
|
||||
<define name="HOVER_KD" value="160"/>
|
||||
<define name="HOVER_KI" value="26"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="160"/>
|
||||
<define name="DGAIN" value="200"/>
|
||||
<define name="IGAIN" value="60"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
|
||||
</section>
|
||||
<include href="conf/simulator/gazebo/airframes/ardrone2.xml"/>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -1,206 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="ardrone2_opticflow">
|
||||
<description>ARDrone2, Opticflow hover
|
||||
</description>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
|
||||
<autopilot name="rotorcraft_control_loop"/>
|
||||
|
||||
<target name="ap" board="ardrone2"/>
|
||||
|
||||
<!--target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target-->
|
||||
|
||||
<define name="USE_SONAR" value="TRUE"/>
|
||||
|
||||
<!-- Subsystem section -->
|
||||
<module name="telemetry" type="transparent_udp"/>
|
||||
<module name="radio_control" type="datalink"/>
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="ardrone2"/>
|
||||
<module name="imu" type="ardrone2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat"/>
|
||||
<module name="ins" type="extended"/>
|
||||
|
||||
<module name="bat_voltage_ardrone2"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
<module name="logger_file"/>
|
||||
|
||||
<module name="video_thread"/>
|
||||
|
||||
<module name="pose_history"/>
|
||||
<module name="cv_opticflow">
|
||||
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
|
||||
<!-- ARDrone2 FPS improvements -->
|
||||
<define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
|
||||
<define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
|
||||
</module>
|
||||
|
||||
<module name="opticflow_hover"/>
|
||||
</firmware>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="3000"/>
|
||||
</commands>
|
||||
|
||||
<servos driver="Default">
|
||||
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
|
||||
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
|
||||
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
|
||||
</servos>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<define name="TRIM_ROLL" value="0"/>
|
||||
<define name="TRIM_PITCH" value="0"/>
|
||||
<define name="TRIM_YAW" value="0"/>
|
||||
|
||||
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="VISION" prefix="VISION_">
|
||||
<define name="HOVER" value="FALSE"/>
|
||||
<define name="PHI_PGAIN" value="300"/>
|
||||
<define name="PHI_IGAIN" value="5"/>
|
||||
<define name="THETA_PGAIN" value="300"/>
|
||||
<define name="THETA_IGAIN" value="5"/>
|
||||
<define name="DESIRED_VX" value="0"/>
|
||||
<define name="DESIRED_VY" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<!-- Accelero -->
|
||||
<define name="ACCEL_X_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
|
||||
|
||||
<!-- Magneto calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-180"/>
|
||||
<define name="MAG_X_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="16." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="16." integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<!-- local magnetic field -->
|
||||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- Toulouse -->
|
||||
<define name="H_X" value="0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value="0.858336"/>
|
||||
<!-- Delft -->
|
||||
<!--define name="H_X" value="0.3892503"/>
|
||||
<define name="H_Y" value="0.0017972"/>
|
||||
<define name="H_Z" value="0.9211303"/ -->
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="SONAR_MAX_RANGE" value="2.2"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45" unit="deg"/>
|
||||
<define name="SP_MAX_R" value="600" unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="850"/>
|
||||
<define name="PHI_DGAIN" value="425"/>
|
||||
<define name="PHI_IGAIN" value="0"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="850"/>
|
||||
<define name="THETA_DGAIN" value="425"/>
|
||||
<define name="THETA_IGAIN" value="0"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="1000"/>
|
||||
<define name="PSI_DGAIN" value="700"/>
|
||||
<define name="PSI_IGAIN" value="0"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="0"/>
|
||||
<define name="THETA_DDGAIN" value="0"/>
|
||||
<define name="PSI_DDGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="283"/>
|
||||
<define name="HOVER_KD" value="82"/>
|
||||
<define name="HOVER_KI" value="13"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<!-- Good weather -->
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<!-- Bad weather -->
|
||||
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
|
||||
<define name="PGAIN" value="79"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
</airframe>
|
||||
@@ -41,6 +41,8 @@
|
||||
$(TARGET).LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
|
||||
$(TARGET).CFLAGS += -DNPS_JSBSIM_USE_SGPATH=$(JSBSIM_USE_SGPATH)
|
||||
endif
|
||||
# Hide warnings from JSBSim itself
|
||||
$(TARGET).CFLAGS += -isystem $(JSBSIM_ROOT)/include/JSBSim
|
||||
</raw>
|
||||
<file name="nps_fdm_jsbsim.cpp" dir="nps"/>
|
||||
</makefile>
|
||||
|
||||
@@ -29,7 +29,7 @@
|
||||
telemetry="telemetry/default_rotorcraft_mavlink.xml"
|
||||
flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_common.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml"
|
||||
gui_color="#ffff0689b7a1"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -40,7 +40,7 @@
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/delft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi_simple.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi_base.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi_simple.xml"
|
||||
gui_color="#ffffcccaccca"
|
||||
/>
|
||||
<aircraft
|
||||
@@ -208,17 +208,6 @@
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
name="ardrone2_flightplan_guided_gazebo"
|
||||
ac_id="235"
|
||||
airframe="airframes/examples/ardrone2_gazebo.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/nps.xml"
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml [modules/ins_extended.xml] modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
|
||||
gui_color="red"
|
||||
/>
|
||||
<aircraft
|
||||
name="autonomous_race_2018"
|
||||
ac_id="121"
|
||||
@@ -307,17 +296,6 @@
|
||||
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
|
||||
gui_color="#ffffcccaccca"
|
||||
/>
|
||||
<aircraft
|
||||
name="frog1"
|
||||
ac_id="25"
|
||||
airframe="airframes/BR/bebop_indi_frog.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml"
|
||||
settings="settings/rotorcraft_basic.xml"
|
||||
settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
|
||||
gui_color="#68f5eb116e0c"
|
||||
/>
|
||||
<aircraft
|
||||
name="DiscoRotorcraft"
|
||||
ac_id="19"
|
||||
|
||||
+1
-1
@@ -10,7 +10,7 @@ PyOpenGL
|
||||
unidecode
|
||||
matplotlib
|
||||
distro
|
||||
empy
|
||||
empy<=3.3.4
|
||||
pexpect
|
||||
setuptools
|
||||
|
||||
|
||||
@@ -174,6 +174,12 @@ void fit_linear_flow_field(struct flow_t *vectors, int count, float error_thresh
|
||||
int n_inliers_pu[n_iterations];
|
||||
int n_inliers_pv[n_iterations];
|
||||
int it, ii;
|
||||
for (it = 0; it < n_iterations; it++) {
|
||||
errors_pu[it] = 0.0;
|
||||
errors_pv[it] = 0.0;
|
||||
n_inliers_pu[it] = 0;
|
||||
n_inliers_pv[it] = 0;
|
||||
}
|
||||
for (it = 0; it < n_iterations; it++) {
|
||||
// select a random sample of n_sample points:
|
||||
int sample_indices[n_samples];
|
||||
|
||||
+1
-1
@@ -33,7 +33,7 @@ EXT_DIR=$(PAPARAZZI_SRC)/sw/ext
|
||||
include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
|
||||
|
||||
MY_PYTHON := $(shell echo `which python3`)
|
||||
MY_MAVLINKTOOLS := $(shell $(MY_PYTHON) -c 'import imp; import future' 2>&1)
|
||||
MY_MAVLINKTOOLS := $(shell $(MY_PYTHON) -c 'import future' 2>&1)
|
||||
MY_DRONECANTOOLS := $(shell $(MY_PYTHON) -c 'import em' 2>&1)
|
||||
BOOST_INSTALLED := $(shell dpkg -s libboost-program-options-dev >/dev/null 2>&1 && echo yes)
|
||||
CMAKE_INSTALLED := $(shell command -v cmake 2>/dev/null)
|
||||
|
||||
@@ -113,6 +113,7 @@ class InstallWindow(QWidget):
|
||||
def cmd_vlc(self):
|
||||
self.execute('sudo -E apt-get -f -y install ffmpeg vlc jstest-gtk default-jre')
|
||||
self.execute('sudo -E apt-get install -y python3-pip')
|
||||
self.execute('python3 -m pip install future') # Required for MAVLink
|
||||
self.execute('python3 -m pip install pyquaternion ivy-python') # Required for NatNat
|
||||
self.execute('python3 -m pip install pymap3d') # Required for Moving-Base
|
||||
self.execute('python3 -m pip install opencv-python') # Required for RTP-viewer
|
||||
|
||||
Reference in New Issue
Block a user