Make it possible to set the command vector from the stabilization INDI controller, when STABILIZATION_INDI_COMMANDS array is defined. The benefit is a simpler configuration of the control_laws section of the airframe file when using INDI.
Be careful that with this, a "correct" failsafe_value is needed for the commands, since it is the value applied in KILL mode. Some special keywords (e.g. MOTOR_STOP) are added to help avoiding mistakes.
Backward compatible if STABILIZATION_INDI_COMMANDS is not defined.
- add example airframe
- add special names for command failsafe values:
- MOTOR_STOP = MIN_PPRZ = -9600
- MAX_PPRZ = 9600
- MOTOR_IDLE = 0
* 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 @)
* Fixes from last year
* Remove old GCS
* FP cleanup
* Change AHRS to version that works with simulaton
* Install script updates: Gazebo packages moved
* Install New Gazebo
* Apply suggestion from @dewagter
* Apply suggestion from @dewagter
This PR allows to redefine the outer-loop for stabilization and
guidance, and to specify the guidance model for something else than a
quarotor (but still not an hybrid).
Two use case are proposed:
- replace the PD control of the outer-loop (still used by default) by
and Hinfinity controller
- parametrize the guidance for an hexa-copter with tilted motors,
allowing to produce side force for lateral motion control.
* [fix] fix some bugs
small errors from compilation tests
* Attempt to fix the detection of failing tests
Side effect: the file issues.md is not produced anymore, but still available in stdout, so needs a manual copy if needed
* T4 actuators and T4 AOA now usable in Paparazzi master
* Rename ACTUATORS_T4_UART_DEV to ACTUATORS_T4_UART_PORT
since build failure on semaphore test gave:
modules/actuators/actuators_t4_uart.c:194:19: error: ‘ACTUATORS_T4_PORT’ undeclared
* Rename ACTUATORS_T4_UART_PORT to ACTUATORS_T4_PORT
Wrongly named, FYI since for the future plans port could be as well CAN or I2C type no specific reference to UART device just plain ACTUATORS_T4_PORT
- possibility to use basic PID with steering rover
- fix navigation
- add support for mission mode
- fix simulator (orientation was wrong, leading to opposite steering
between sim and reality)
- add support of 2 wheels rover in simulation
- add and update config files
* Disable GPS_Fix for a given number of seconds in ABI messages for testing purposes.
* Add protection to by default not allow disabling GPS
* Add example
* Covert into TRUE/FALSE since the define in seconds is not used.
* rotwing airframe files v3i-k and conf
update repaired rotwing drones v3d an v3e
turn calc asml baro to true for all rotwing airframes
* remove old magneto calib v3d and v3e
* v3e flown in VB
* update imu filter v3i and v3j
turn off highspeed logging imu
calib all accelero on v3j
add all 3 imu filters v3j
* v3d all imu calibrations
v3d magneto calib
* turn off pfc debug, rotwing put air_data defines in common airframe file
* add magneto rotation for i,j,d
* merge with master
* rotwing airframe files v3i-k and conf
update repaired rotwing drones v3d an v3e
turn calc asml baro to true for all rotwing airframes
* try cube imu 1 on v3d
* pull some things from v3b
* small change in rotwing liftd eff scheduling
* re-do v3j magneto calibration
* v3e magneto rotation
* fix consistency of defines
* revert changes eff scheduling
* make compatible with rebase
* rotwing demo module and remove rotwing effectiveness RC switch
* fix small mistake
* fix small logic error
* fix RC switch range
* make skew values customizable
* small cleanup
* remove rotwing_demo module and replace by flight plan WIP
* rotwing move some settings back to individual airframes
* some changes
* choose a different ac id for demo drone
* Activate barometric altitude in fixedwing Disco
* Define not in NPS
* Replaced board by sensor driver...
* Fix with drone
* MAG Feedback in AHRS_DSM_FLOAT tested extensively.
The Ranger T1 is a tilt-rotor hybrid plane. As a first basic approach,
two separated controls are used for hovering (INDI) and forward flight
(PID). The mixing is done by a dedicated module and the autopilot is
customized to support the specific modes.
A simple PID controller is added to the rotorcraft firmware as it is not
possible to directly reuse the one from fixedwing firmware.
In a future work, a full INDI version might be used, but this approach
can still serves as an example of customized autopilot.
A simulation model for JSBSim is also provided.
* [generator] generate unique ID and names table for modules
* [state] add accessors for the state origin
* [state] don't access directly to state origin, use getters
* [state] filter inputs with module ID
* [ahrs] convert AHRS modules to state input filter
- selection of ahrs with settings from each module
- init functions for each ahrs modules
- remove old chimu
* update unit test
* [ins] decoupled INS implementation
To allow multiple INS at the same time:
- remove weak functions from ins.c
- remove the INS_TYPE_H define
- use ABI message to trigger INS reset
* [state] protect for c++
Fabien-B
NoahWe
Christophe De Wagter
Gautier Hattenberger
jpgdubois
Ewoud Smeur
OpenUAS
Alejandro Rochas Fernández
Freek van Tienen
Jesús Bautista Villar
Florian Sansou
Tomaso Maria Luigi De Ponti