* first push
* Removed old test section from new eff scheduling
* Added test
* Fixed test defines
* Fix commands index in case needs to be unique for test
* Changed general variables to make them more specific. Added explanation.
* Make use V2 more specific to the rotating wing drone
* changed variable names
* WLS Debug
WLS Debug
* track new develop branch
* WLS to use pointer of struct to allow multiple calls of WLS in the same control loop
* additional changes and bug fixes to wls struct pointer rework
* Track new pprzling branch with wls msg additions
* code clean up
* Implement new WLS in guidance and stabilization
* code clean up
* add wls mesg to telemetry. Fix stabilization wanring.
* track pprzlink
* Better casing
* Use WLS_N_U_MAX and WLS_N_V_MAX
* Register periodic telemetry of WLS only if WLS is used
* Track master pprzlink
* Shortened explanation of parameters
* track pprzlink master
---------
Co-authored-by: Tomaso Maria Luigi De Ponti <48210579+tmldeponti@users.noreply.github.com>
Co-authored-by: tomaso_de_ponti <tomasodp@gmail.com>
* [tag tracking] Compute tag orientation.
* [tag tracking] it works
* Fix errors and allow tracking any tag
* improve code readability
* tag tracking doc
* no need for the size
* [tag tracking] silence unused variable warning.
---------
Co-authored-by: Fabien-B <Fabien-B@github.com>
* Actuators in PPRZ values
* New messages
* Dual Actuator messages
* ACTUATORS_RAW for driver_val and ACTUATORS for pprz_val
* New PPRZLINK
---------
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
* Update rotwing
fix merge
use same pusher effectiveness in guidance INDI
Correct spaces
Apply suggested fix
* Rotwing default altitude 25kg
* sensible values for max lat accel
---------
Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
* [chibios] remove unecessary option that makes a warning on H7
see ChibiOS forum: http://forum.chibios.org/viewtopic.php?t=5830
* [guidance] fix hybrid guidance
after merging #3248
* [natnet] remove call to function that doesn't exist
issue were only on verbose mode
* [conf] remove bebop_flip aiframe file
The FLIP mode is not supported anymore, better remove this example.
If flip is really needed, it should be implemented as a custom mode in
generated autopilot.
* max bank in deg
* takeoff no attitude msec timer
* Prepared elevator moment compensation fix
* [EHVB_rotwing fp] Updated takeoff stratgey with roll and pitch check and added standby_free to flightplan
* [fp EHVB] Takeoff 3 seconds on att 0,0
* increase filter freq and setting for max acc
* [rot_wing_eff_sched] Elevator 5 degrees higher
* [rot_wing] Decreased cutoff frequencies of filters
* [modules] Support dual ublox GPS modules
* [ekf2] Add failsafe remove yaw
* Reverted acceleration limits
* takeoff procedure update
* [flight_plan] Takeoff when hover motors are running
* scale elevator ctrl eff in transition
* [conf] Fix takeoff
* Higher pitch gains
* Fix conf
* Add extra throttle for spinup
* Update calibration
* max_bank in Radians only except in xml/gcs with auto-conversion
* cleanup
* Use flightplan variables instead...
* fix test
* revert debugging action
* cleanup unused
* cleanup more
* Fix compile bug
* [pfc] Fix actuators
* Add follow tests
* reduce pitch weight in forward flight
* correctly set cmd thrust in INDI
* fix takeoff unequal roll effectiveness and not in_flight
* Fix heading in approach
* fix double define and roll scaling setting
* settings names and roll scaling in right settings
* moving simulator stuff
* [flight_plan] Update angel for takeoff
* Update conf
* Conf update
* [conf] Update checks
* land in approach
* Fix flightplan
* Update sw/ground_segment/python/moving_base/moving_base.py
* input params for moving base sim
* no elevator compensation
---------
Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
Co-authored-by: Dennis van Wijngaarden <32736330+Dennis-Wijngaarden@users.noreply.github.com>
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
* actuators[ ] array in pprz units, conversion to actuator_driver units when sending to the actuator_driver.
actuators becomes an array
* Moved scaling of the Servo to the Set function.
* Fixed switches and pan-tilt to work in PPRZ units now. Simplified code.
* [modules] Support dual ublox GPS modules
* Fix UCenter
* Fix make test_modules
* Fix: tell ins_ekf2 when no YAW is available
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
* max bank in deg
* Fix allocation switching problem
* [rot_wing_v3] Updated max bank in all airframes
* Update sw/airborne/modules/checks/preflight_checks.c
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
* use unit and alt_unit for conversions instead
* remove needless conversion
* Also fix normal INDI to fit the code
---------
Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
* [rotwing_state] Added free configuration to be requested for rotwing drone
* [rot_wing_eff_sched] Added rate limiter on pusher prop
* [rot_wing_state] fix nav_max_goto_speed setting from state machine
* [rotwing_state] move rotwing free state processor to NAV if statement
* [rot_wing_state] Updated free state in rotwing_state
* [fp] Added free state standby waypoint to rotwing EHVB fp
* [rotwing_state] Removed non used speed_to_target variable
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)
* [guidance_indi_hybrid] Added secondary airspeed filtering in guidance
* Rename for clarity: guidance_indi hybrid can have a separate filter
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
* Add actuator type attribute to command
* Implemented new command based counting of the atuators in the oneloop controller
* Added group attribute to dtd file. Initialize as empty subgroup count of commands. Avoid unnecessary array to list conversion.
* Generate list of names from defined commands
* Use the defined commands number and name in NPS
* Update sw/tools/generators/gen_airframe.ml
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
* Added logic to remove redundant code
---------
Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
* [rot_wing nps] add more aerodynamic drag in rotwing simulation
* Triple the CD * surface
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
* Make adc sensor mappable from the airframe. Better interface for adc in the rotwing state.
* Added parameters to v3b airframe
* Addressed the comments
* Removed external variable
* removed the -o flag because it caussed natnet errors
* smaller obstacle zone for first week testing
* Updated distance measurement script
* 3x3 convolution addition (#97)
Added a convolution algorithm for a general 3x3 kernel
---------
Co-authored-by: robinferede <robinferede@tudelft.nl>
Co-authored-by: yamacbirol <y.birol@student.tudelft.nl>
Co-authored-by: dvanwolffelaar <50547974+pigparty6@users.noreply.github.com>
NoahWe
Tomaso Maria Luigi De Ponti
Christophe De Wagter
Angel-HF
Fabien-B
Gautier Hattenberger
Freek van Tienen
Dennis-Wijngaarden
Ewoud Smeur