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[autopilot] merge AP and FBW in normal operation (#2828)

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There is no longer a separated FBW in normal operation for fixedwing,
only a single AP task/thread.
The code for main_ap is now factorized for all firmwares.
Dual MCU support (separated AP and FBW) is still possible, based on the
rotorcraft implementation and intermcu pprzlink messages. Relevant code
is also factorized and available in all firmwares.
The recovery mode (in case of hard fault) is still available for
fixedwing with ChibiOS implementation.
Only intermcu_uart is supported at the moment. Other options (spi/can)
might be added back in the future if really used.

Some other evolution are made:
- in the radio_control and actuators modules, now integrated to AP and
using ABI messages
- the message parsing on datalink event (defined in module) that is now
properly filtering the messages based on their class and allowing to
have multiple callbacks for the same message
- cleaning the part of code that were using the old intermcu fixedwing
interface
This commit is contained in:
Gautier Hattenberger
2022-03-10 14:21:04 +01:00
committed by GitHub
parent 05de94932c
commit e436d78c84
190 changed files with 2568 additions and 4875 deletions
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conf/airframes/examples/separate_fbw_ap.xml
+30 -26
View File
@@ -205,8 +205,6 @@
<target name="ap" board="lisa_m_2.0">
<define name="LISA_M_LONGITUDINAL_X"/>
<configure name="SEPARATE_FBW" value="1"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
@@ -227,6 +225,17 @@
</module>
<module name="gps" type="ubx_ucenter"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
<!--
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART2"/>
</module>
<module name="telemetry" type="intermcu"/>
-->
<module name="control"/>
<module name="navigation"/>
@@ -234,38 +243,43 @@
</target>
<target name="fbw" board="lisa_m_2.0">
<configure name="SEPARATE_FBW" value="1"/>
<configure name="SYS_TIME_LED" value="2"/>
<define name="RADIO_CONTROL_LED" value="4"/>
<define name="LINK_MCU_LED" value="3"/>
<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
<!-- split of ap/fbw specific modules for fbw -->
<module name="actuators" type="pwm"/>
<module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/>
</module>
<!-- Communication -->
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART5"/>
</module>
<module name="telemetry" type="intermcu"/>
<!--
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
-->
<module name="radio_control" type="spektrum"/>
</target>
<target name="sim" board="pc">
<module name="control"/>
<module name="navigation"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART1"/>
</module>
<module name="gps" type="ublox"/>
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="sim"/>
</target>
<!--
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2" />
</module>
-->
<module name="light">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="LIGHT_LED_NAV" value="3"/>
@@ -293,16 +307,6 @@
<define name="WIND_INFO_RET"/>
<define name="RADIO_CONTROL_AUTO1"/>
<module name="radio_control" type="spektrum">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
</module>
<!-- Communication -->
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART2"/>
</module>
<!-- Sensors -->
<module name="imu" type="aspirin_v2.1"/>
<module name="ahrs" type="float_dcm"/>