From ecb94ad4785c63d3f29fe8b02fe3b856f46f7169 Mon Sep 17 00:00:00 2001
From: Tomaso Maria Luigi De Ponti
<48210579+tmldeponti@users.noreply.github.com>
Date: Tue, 16 Jul 2024 13:28:31 +0200
Subject: [PATCH] ONELOOP controller updates (#3333)
---
.../tudelft/bebop_one_indi_generated_ekf2.xml | 9 +-
.../tudelft/rot_wing_v3c_oneloop.xml | 189 ++-
.../rot_wing_v3c_oneloop_optitrack.xml | 338 ++++
...ot_wing_v3c_oneloop_optitrack_ext_pose.xml | 179 +-
.../rot_wing_v3c_oneloop_simulation.xml | 312 ++++
.../rotorcraft_oneloop_andi_indi.xml | 236 ++-
conf/autopilot/rotorcraft_oneloop_switch.xml | 258 +++
.../flight_plans/tudelft/oneloop_cyberzoo.xml | 2 +
.../tudelft/oneloop_valkenburg.xml | 210 ++-
conf/modules/oneloop_andi.xml | 6 +-
.../jsbsim/aircraft/rotwingv3c_SI.xml | 822 +++++++--
conf/userconf/tudelft/RW_control_panel.xml | 1503 +++++++++++++++++
conf/userconf/tudelft/conf.xml | 58 +-
data/pictures/gcs_icons/transition_left.png | Bin 0 -> 47394 bytes
data/pictures/gcs_icons/transition_right.png | Bin 0 -> 85111 bytes
.../rotorcraft/guidance/guidance_oneloop.c | 13 +-
.../rotorcraft/oneloop/oneloop_andi.c | 790 ++++++---
.../rotorcraft/oneloop/oneloop_andi.h | 8 +-
18 files changed, 4204 insertions(+), 729 deletions(-)
create mode 100644 conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack.xml
create mode 100644 conf/airframes/tudelft/rot_wing_v3c_oneloop_simulation.xml
create mode 100644 conf/autopilot/rotorcraft_oneloop_switch.xml
create mode 100644 conf/userconf/tudelft/RW_control_panel.xml
create mode 100644 data/pictures/gcs_icons/transition_left.png
create mode 100644 data/pictures/gcs_icons/transition_right.png
diff --git a/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml b/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
index 8114035179..2cb4e949a7 100644
--- a/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
+++ b/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
@@ -20,8 +20,8 @@
-
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+
+
@@ -33,9 +33,10 @@
-
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+
diff --git a/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml b/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
index f6e5f0a414..6576ba46d6 100644
--- a/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
+++ b/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
@@ -7,10 +7,10 @@
-->
- RotatingWingV3C for outdoor flight and simulation with INS EKF2
+ RotatingWingV3C for outdoor flight with INS EKF2
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diff --git a/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack.xml b/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack.xml
new file mode 100644
index 0000000000..d3407db036
--- /dev/null
+++ b/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack.xml
@@ -0,0 +1,338 @@
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+ RotatingWingV3C with optitrack and INS EKF2
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diff --git a/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml b/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml
index 859d9ea913..c44df9c52b 100644
--- a/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml
+++ b/conf/airframes/tudelft/rot_wing_v3c_oneloop_optitrack_ext_pose.xml
@@ -10,7 +10,7 @@
RotatingWingV3C with optitrack and INS ext pose
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diff --git a/conf/airframes/tudelft/rot_wing_v3c_oneloop_simulation.xml b/conf/airframes/tudelft/rot_wing_v3c_oneloop_simulation.xml
new file mode 100644
index 0000000000..8e92a1a627
--- /dev/null
+++ b/conf/airframes/tudelft/rot_wing_v3c_oneloop_simulation.xml
@@ -0,0 +1,312 @@
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+ RotatingWingV3C for simulation
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diff --git a/conf/autopilot/rotorcraft_oneloop_andi_indi.xml b/conf/autopilot/rotorcraft_oneloop_andi_indi.xml
index b60ae736da..cc1080a8a3 100644
--- a/conf/autopilot/rotorcraft_oneloop_andi_indi.xml
+++ b/conf/autopilot/rotorcraft_oneloop_andi_indi.xml
@@ -32,24 +32,22 @@
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diff --git a/conf/autopilot/rotorcraft_oneloop_switch.xml b/conf/autopilot/rotorcraft_oneloop_switch.xml
new file mode 100644
index 0000000000..999d162fc2
--- /dev/null
+++ b/conf/autopilot/rotorcraft_oneloop_switch.xml
@@ -0,0 +1,258 @@
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diff --git a/conf/flight_plans/tudelft/oneloop_cyberzoo.xml b/conf/flight_plans/tudelft/oneloop_cyberzoo.xml
index 29e4e9f5d1..51faba79da 100644
--- a/conf/flight_plans/tudelft/oneloop_cyberzoo.xml
+++ b/conf/flight_plans/tudelft/oneloop_cyberzoo.xml
@@ -2,10 +2,12 @@
+ #include "autopilot.h"
#include "modules/datalink/datalink.h"
#include "modules/energy/electrical.h"
#include "modules/radio_control/radio_control.h"
#include "modules/ahrs/ahrs.h"
+ #include "modules/gps/gps.h"
diff --git a/conf/flight_plans/tudelft/oneloop_valkenburg.xml b/conf/flight_plans/tudelft/oneloop_valkenburg.xml
index 65ce2e0a34..194c95e9eb 100644
--- a/conf/flight_plans/tudelft/oneloop_valkenburg.xml
+++ b/conf/flight_plans/tudelft/oneloop_valkenburg.xml
@@ -1,38 +1,45 @@
-
+
#include "autopilot.h"
#include "modules/datalink/datalink.h"
#include "modules/energy/electrical.h"
#include "modules/radio_control/radio_control.h"
#include "modules/ahrs/ahrs.h"
+ #include "modules/gps/gps.h"
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@@ -54,18 +61,17 @@
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-
- = IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="Landed"/>
@@ -92,69 +98,139 @@
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diff --git a/conf/modules/oneloop_andi.xml b/conf/modules/oneloop_andi.xml
index c69da1a44c..5ba8d08d38 100644
--- a/conf/modules/oneloop_andi.xml
+++ b/conf/modules/oneloop_andi.xml
@@ -6,6 +6,10 @@
+
+
+
+
@@ -14,7 +18,7 @@
-
+
diff --git a/conf/simulator/jsbsim/aircraft/rotwingv3c_SI.xml b/conf/simulator/jsbsim/aircraft/rotwingv3c_SI.xml
index 90ba41f02c..a58f7e8e90 100644
--- a/conf/simulator/jsbsim/aircraft/rotwingv3c_SI.xml
+++ b/conf/simulator/jsbsim/aircraft/rotwingv3c_SI.xml
@@ -35,13 +35,13 @@
- 0.126323
- 1.064109
- 1.00000
+ 0.129
+ 0.950
+ 0.975
0.0
0.0
0.0
- 7.97
+ 6.670
0
0
@@ -119,89 +119,339 @@
-
- fcs/front_motor
+
+ fcs/MOTOR_FRONT
10.1
-
+
-
- fcs/right_motor
+
+ fcs/MOTOR_RIGHT
10.1
-
+
-
- fcs/back_motor
+
+ fcs/MOTOR_BACK
10.1
-
+
-
- fcs/left_motor
+
+ fcs/MOTOR_LEFT
10.1
-
+
-
- fcs/pusher
+
+ fcs/MOTOR_PUSHER
24.07
-
+
+
+
+ fcs/ELEVATOR
+ 50.00
+
+
+
+ fcs/RUDDER
+ 50.00
+
+
+
+ fcs/AILERONS
+ 50.00
+
+
+
+ fcs/FLAPS
+ 50.00
+
-
-
- fcs/front_motor
+
+ fcs/MOTOR_FRONT
10.1
-
+
-
- fcs/right_motor
+
+ fcs/MOTOR_RIGHT
10.1
-
+
-
- fcs/back_motor
+
+ fcs/MOTOR_BACK
10.1
-
+
-
- fcs/left_motor
+
+ fcs/MOTOR_LEFT
10.1
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+
+
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+
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+
+ fcs/ROT_MECH
+ 0.5
+
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+ fcs/cosskew
+ 2.0
+
+
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+
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+ fcs/cosskew
+ 3.0
+
+
+
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+ fcs/ROT_MECH
+ 0.5
+
+
+
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+
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+
+
+ fcs/sinskew
+ 2.0
+
+
+
+
+
+
+
+
+ fcs/sinskew
+ 3.0
+
+
+
+
+
+
+
+
+ fcs/cosskew
+
+ fcs/cos3skew
+ -1
+
+
+
+
+
+
+
+
+
+
+
+ aero/qbar-psf
+ 47.880259
+ 1.6327
+
+
+
+
+
+
+
+
+ fcs/airspeed2_ms
+
+
+
+
+
+
+
+
+
+
+ fcs/airspeed_ms
+
+ 0.0 0.0
+ 8.8 0.0
+ 16.0 -0.8333
+ 25.0 -0.8333
+
+
+ fcs/ELEVATOR_lag
+
+
+
+
+
+
+
+ 0.129
+
+
+
+
+
+
+ 0.950
+
+
+
+
+
+
+ 0.0478
+
+
+
+
+
+
+ 0.7546
+
+
+
+
+
+
+ 0.08099
+
+
+
+
+
+
+ 0.1949
+
+
+
+
+
+
+
+ fcs/Ixx_body
+
+ fcs/Ixx_wing
+ fcs/cos2skew
+
+
+ fcs/Iyy_wing
+ fcs/sin2skew
+
+
+
+
+
+
+
+
+
+ fcs/Iyy_body
+
+ fcs/Ixx_wing
+ fcs/sin2skew
+
+
+ fcs/Iyy_wing
+ fcs/cos2skew
+
+
+
+
+
+
+
+
+
+ fcs/Ixx_quad
+ fcs/Ixx_sched
+
+
+
+
+
+
+
+
+ fcs/Iyy_quad
+ fcs/Iyy_sched
+
+
+
+
+
- fcs/front_motor
- fcs/front_motor_lag
- fcs/front_motor_d
- fcs/right_motor
- fcs/right_motor_lag
- fcs/right_motor_d
- fcs/back_motor
- fcs/back_motor_lag
- fcs/back_motor_d
- fcs/left_motor
- fcs/left_motor_lag
- fcs/left_motor_d
-
- fcs/pusher
- fcs/pusher_lag
-
+ fcs/MOTOR_FRONT
+ fcs/MOTOR_FRONT_lag
+ fcs/MOTOR_FRONT_d
+ fcs/MOTOR_RIGHT
+ fcs/MOTOR_RIGHT_lag
+ fcs/MOTOR_RIGHT_d
+ fcs/MOTOR_BACK
+ fcs/MOTOR_BACK_lag
+ fcs/MOTOR_BACK_d
+ fcs/MOTOR_LEFT
+ fcs/MOTOR_LEFT_lag
+ fcs/MOTOR_LEFT_d
+ fcs/MOTOR_PUSHER
+ fcs/MOTOR_PUSHER_lag
+ fcs/ELEVATOR
+ fcs/RUDDER
+ fcs/AILERONS
+ fcs/FLAPS
+ fcs/ELEVATOR_lag
+ fcs/RUDDER_lag
+ fcs/AILERONS_lag
+ fcs/FLAPS_lag
+ fcs/ROLL
+ fcs/PITCH
+ fcs/YAW
+ fcs/THRUST
+ fcs/ROT_MECH
+ fcs/de_lag
+ fcs/airspeed2_ms
+
-
-
-
+
+
+
+
- fcs/front_motor_lag
- 8.69
+ fcs/MOTOR_FRONT_lag
+ 36.82
+ 0.2248
- -0.423
+ 0
0
0
@@ -212,34 +462,16 @@
-
+
- fcs/right_motor_lag
- 8.69
+ fcs/MOTOR_RIGHT_lag
+ 36.82
+ 0.2248
0
- 0.408
- 0
-
-
- 0
- 0
- -1
-
-
-
-
-
-
- fcs/back_motor_lag
- 8.69
-
-
-
- 0.423
0
0
@@ -250,16 +482,17 @@
-
+
- fcs/left_motor_lag
- 8.69
+ fcs/MOTOR_BACK_lag
+ 36.82
+ 0.2248
0
- -0.408
+ 0
0
@@ -269,11 +502,32 @@
-
+
- fcs/pusher_lag
- 36.96
+ fcs/MOTOR_LEFT_lag
+ 36.82
+ 0.2248
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -1
+
+
+
+
+
+
+ fcs/MOTOR_PUSHER_lag
+ 33.30
+ 0.2248
@@ -288,13 +542,301 @@
-
-
+
+
- fcs/front_motor_lag
- 10.0
- 0.192
+ fcs/MOTOR_FRONT_lag
+ 36.82
+ 0.423
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+ fcs/MOTOR_BACK_lag
+ 36.82
+ 0.423
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ -1
+ 0
+
+
+
+
+
+
+ fcs/MOTOR_RIGHT_lag
+ fcs/cosskew
+ 36.82
+ 0.408
+ 0.738
+ fcs/Ixx_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ -1
+ 0
+ 0
+
+
+
+
+
+
+ fcs/MOTOR_RIGHT_lag
+ fcs/sinskew
+ 36.82
+ 0.408
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+ fcs/MOTOR_LEFT_lag
+ fcs/cosskew
+ 36.82
+ 0.408
+ 0.738
+ fcs/Ixx_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 1
+ 0
+ 0
+
+
+
+
+
+
+ fcs/MOTOR_LEFT_lag
+ fcs/sinskew
+ 36.82
+ 0.408
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ -1
+ 0
+
+
+
+
+
+
+
+ fcs/airspeed2_ms
+
+ 0.0 0.0
+ 77.44 0.0
+ 256 1.0
+
+
+ fcs/airspeed2_ms
+ fcs/de_lag
+
+
+ 0.2112
+ 0.850
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+ fcs/airspeed2_ms
+ fcs/RUDDER_lag
+ 0.01159
+ 0.880
+ 0.738
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ 1
+
+
+
+
+
+
+ fcs/AILERONS_lag
+ fcs/sin3skew
+ fcs/airspeed2_ms
+ 0.03920
+ 0.68
+ 0.738
+ fcs/Ixx_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 1
+ 0
+ 0
+
+
+
+
+
+
+ fcs/airspeed2_ms
+ fcs/FLAPS_lag
+ fcs/sin3skew
+ 0.05527
+ 0.355
+ 0.738
+ fcs/Ixx_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 1
+ 0
+ 0
+
+
+
+
+
+
+ fcs/airspeed2_ms
+ fcs/AILERONS_lag
+ fcs/coscos3skew
+ 0.03920
+ 0.68
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+ fcs/airspeed2_ms
+ fcs/FLAPS_lag
+ fcs/coscos3skew
+ 0.05527
+ 0.355
+ 0.738
+ fcs/Iyy_ratio_quad_sched
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 1
+ 0
+
+
+
+
+
+
+
+ fcs/MOTOR_FRONT_lag
+ 3.74
+ 0.738
@@ -309,12 +851,12 @@
-
+
- fcs/right_motor_lag
- 10.0
- 0.192
+ fcs/MOTOR_RIGHT_lag
+ 3.74
+ 0.738
@@ -329,12 +871,12 @@
-
+
- fcs/front_motor_lag
- 10.0
- 0.192
+ fcs/MOTOR_FRONT_lag
+ 3.74
+ 0.738
@@ -349,12 +891,12 @@
-
+
- fcs/right_motor_lag
- 10.0
- 0.192
+ fcs/MOTOR_LEFT_lag
+ 3.74
+ 0.738
@@ -370,12 +912,12 @@
-
+
- fcs/front_motor_d
- 10.0
- 0.0096
+ fcs/MOTOR_FRONT_d
+ 0.187
+ 0.738
@@ -390,12 +932,12 @@
-
+
- fcs/right_motor_lag
- 10.0
- 0.0096
+ fcs/MOTOR_RIGHT_lag
+ 0.187
+ 0.738
@@ -410,12 +952,12 @@
-
+
- fcs/front_motor_lag
- 10.0
- 0.0096
+ fcs/MOTOR_FRONT_lag
+ 0.187
+ 0.738
@@ -430,12 +972,12 @@
-
+
- fcs/right_motor_lag
- 10.0
- 0.0096
+ fcs/MOTOR_RIGHT_lag
+ 0.187
+ 0.738
@@ -460,26 +1002,40 @@
Drag
- aero/qbar-psf
- 47.9
- 0.0151
+ fcs/airspeed2_ms
+ 0.0576
0.224808943
-
-
- Side force due to beta
-
- aero/qbar-psf
- metrics/Sw-sqft
- aero/beta-rad
- -4
-
-
+
+
+
+
+
+ 0.4887
+ aero/alpha-rad
+ fcs/airspeed2_ms
+
+
+ 0.616
+ fcs/sin2skew
+ aero/alpha-rad
+ fcs/airspeed2_ms
+
+
+ 0.120
+ fcs/sin2skew
+ fcs/airspeed2_ms
+
+
+ 0.2248
+
+
+
+
-
\ No newline at end of file
diff --git a/conf/userconf/tudelft/RW_control_panel.xml b/conf/userconf/tudelft/RW_control_panel.xml
new file mode 100644
index 0000000000..247d5858ca
--- /dev/null
+++ b/conf/userconf/tudelft/RW_control_panel.xml
@@ -0,0 +1,1503 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 21251420f1..2577541010 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -582,6 +582,50 @@
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rot_wing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.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"
/>
+
+
+
+
diff --git a/data/pictures/gcs_icons/transition_left.png b/data/pictures/gcs_icons/transition_left.png
new file mode 100644
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