* 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 @)
* [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++
* rotwing_automation was removed
* GVF was missing and gave compile warnings
* INS_EXT_VISION_ROTATION define is in airframe, not genertic define
* rename rot_wing also in conf
* Oneloop controller does not export specific thrust
* Missing conf file
* rotwing_vis_transition removed
* Missing airframe
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)
* bug fixes: simulation not selecting airframe, error when removing command, ADC not present in simulation
* remove command_trimmed not used warning (indeed not used) + add comments
* RAM3 overflow. Test of module done in RW3.
* coverity - Microjet - SIM
* clean BR
* CDW + tests
* make openuas/mavlab
* Remove Special ARDrones
* conf
* fixed typ in eff_scheduler of rotwing_25kg
* Updated preflight checks for rotwing v3b actuators
* Updated tudelft conf
---------
Co-authored-by: Dennis van Wijngaarden <32736330+Dennis-Wijngaarden@users.noreply.github.com>
* Silent compile warnings in tests
* silent warnings in conf_test
* fix defines: if OLD -> warn and convert. If new, then use. If no old and no new, use default.
- old way (based on ins_vectornav) is not supported anymore
- directly send sensor data and receive commands with a dedicated link
- examples with USB link for better results
- update sphinx documentation
- compilation in a single build
* Squash on master
* fix bebeop2_flow
* Divergence is more noisy than previous time... added a low-pass filter, and allow for a higher threshold...
* fixed the sim, removed warnings, removed double airframe
* cleanup airframe, remove all warnings, allow placing camera parameters in sections
* PPRZLINK
* Silent warnings and compile errors
* reintegrated pprzlink
---------
Co-authored-by: guidoAI <guido.de.croon@gmail.com>
* silent warnings make test_tudelft
* [fix] bugfix
* info instead of warning
* fix optical flow landing
* module that can not stop does not need a stop function
* missing CAMERA
* dangerous define not standard
* simulator not working at 120Hz
* When no if-statement was triggered, this is information and not a warning.
* remove doubles
* point to inexisting telemetry
* firmware settings hardcoded to need 7 actuators
* Merge double file into 1
* untested airframe
* old sim can only handle 60Hz
* non-existing telemetry
* old sim not accepting 120Hz
* Unify info messages
* only 60Hz sim
* survey no height
* Missing camera
* WP further from HOME than MAX_DIST_FROM_HOME
* No more warning when there is no heading feedback by design, only an info message
* clean releases
* no warning on free floating heading in manual controlled AC
* no double firmware block: use dual target instead
* fixedwing: PERIODIC must be multiple of TELEMETRY_FREQ
* missing camera
* error with dual heading feedback
* missing kill switch
* remove prefix
* implicit declaration of function 'scb_reset_system'
* implicit declaration of function 'spektrum_try_bind'
* no dual firmware
* shadowed variable
* wrong header
* typo in fix
* TELEMETRY_PERIOD should be a multiple of PERIODIC
* Missing struct dshot actuators_dshot_values in sim during e7781e7b87
* matek sim does not compile
* bebop misses a camera
* silent compile warnings opticflow
* silent compile warnings
* guido fixed
* double prefix
* changed confs
* new way
* setup_actuators setting up 8 actuators needs 8 actuators
* [openuas] so many comments that the compiler failed.
* [tests] make test_tudelft has 4 coonfs
* [ins_flow] depends on gps (called in initialization of NED)
* [doc] update
* update naming convention
* an octocopter needs 8 ports please
* pprz_can_init type change
* changed conf
* Pull request with all the code for 6 DOF optical flow control, the basis of a Nature and Nature Machine Intelligence paper.
* Camera ID was already added.
* Remove a duplicate airframe file.
* Cleanup
* Simulator does not work with opticflow
* Incorporated comments review
* fix provides
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
This is a complete rework of the navigation for rotorcraft with the key features:
- all nav functions and interface in float
- nav function are registered (decoupling between nav API and implementation of standard pattern)
- submodes to specify if setpoint is a position (legacy), speed or accel (better integration of algorithms like GVF)
- guidance (H and V) is reorganized with default function to implement (run_pos, run_speed, run_accel)
- guidance control (the old default PID) is separated from the guidance logic
---------
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
- Two interpolation segments during transition
- Quadratic lift effectiveness with airspeed
- Velocity setpoint input possible from module via ABI message
* [chibios] Fix i2c hanging full autopilot for 50ms and better error handling
* [airspeed] Fix ms45xx faulty readings
* [board] Fix cube orange test build
* [actuators] Remove actuators_ppm which is not implemented
* [ppm] Fix warnings for lisa mx and lisa m
* [tests] Fix test build and std.h include for TRUE/FALSE
* [chibios] Update to latest paparazzi version
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
- try to set the sensor frequency automatically at the correct value
- make more parameters configurable
- set higher bounds for all sensors to avoid saturation
- remove old unused files
- update airframe files
Christophe De Wagter
Fabien-B
OpenUAS
Jesús Bautista Villar
Gautier Hattenberger
Freek van Tienen
guidoAI
Ewoud Smeur