* 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
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Co-authored-by: Tomaso Maria Luigi De Ponti <48210579+tmldeponti@users.noreply.github.com>
Co-authored-by: tomaso_de_ponti <tomasodp@gmail.com>
* change INDI to use continuous time actuator frequency
* change to continuous time act dynamics definitions
- guidance_indi
- guidance_indi_hybrid
- stabilization_indi_simple
* keep the old values as deprecated default
- harmonize name
- make a 'generic' module with basic linear scheduling
- old ctrl_effectiveness_scheduling was very specific to cyfoam, so
renamed
- add falcon scheduler, related airframe will come later
* [fix] Airspeed data different from airspeed state
* Update conf/modules/airspeed_ms45xx_i2c.xml
* [ms45xx] do not set state_speed but send to <air_data>, downlink now via telemetry.xml (no more sync send)
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
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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
Christophe De Wagter
Ewoud Smeur
Gautier Hattenberger
Freek van Tienen
Ewoud Smeur