* Added disco_rotorcraft airframefile to be able to fly hybrid code
* Created files (airframe and flightplan) and added bebop_convergence to tudelft conf
* allow higher version bebop
* logging motor commands and accel bebop2
* Updated hybrid guidance indi variables for bebop2
* improvements
* Prepared bebop2 airframe for cyberzoo test
* Flying bebop in the cyberzoo
* increase outer loop gains
* bebop2 jsbsim file
* no failsafe thrust for rotorcraft
* use ekf2 for bebop2
* Prepared flightplan for outside test
* fix static heading
* Added disco_convergence
* Updated hybrid guidance with extra variables as macro for convergence test
* extended logger with nav target
* typo with the nav_target
* fix thrust estimate
* no ctrl eff scheduling
* Flown code Valkenburg
* Tuned Disco convergence and added nps sim
* 24-06-2021 flown disco code, noise on thrust
* Updated disco flight plan to increase and decrease altitude 20 meters in flight
* change thrust effectiveness
* cleanup
* logger default freq, lexer, etc.
* further small improvments
* lower frequency for AHRS_REF_QUAT
* use more lexer
Co-authored-by: Dennis van Wijngaarden <wijngaarden.dennis@gmail.com>
* [datalink] add a datalink init function
and get rid of the DATALINK_C trick
* [datalink] weak parsing function
* [sim] remove MODULES_C define from sim_ap
this is not necessary and is a source of multiple definition errors
* [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
estimate the position (and speed) with a kalman filter from the position
measured by a smart cam jevois (detection of ArUco, QRcode, ...) or a
companion computer
- old airframe with single imu configuration will continue to work, ABI
id is automatically found
- mag modules require @imu to guarantee init order, multiple calls of
imu_init is no longer needed
- ABI_BROADCAST id is used by default and then replaced by correct ID
- imu_set_default_config will override user conf if params are not NULL
* Add ChibiOS USB Serial.
* do not terminate shell thread on read error.
* build usb serial
* Condition for building usb_ser_hw.c
* match UART buffer size
* include USB serial in uart module.
* Shell dependency on uart.
* Add missing attribute in DTD.
* Add setting to enable USB storage.
* Allows to use USB serial with logger.
* Allow defining USB_RX_BUFFER_SIZE.
* Steering wheel rover main files and guidance
* Fix: Undeclared function nav_reset_alt warning
* GVF mission flight plan
* NPS FDM for rovers
* GVF low_level_control.c included in gvf.c
* Rover main loop for non chibios arch (copy/paste from rotorcraft)
* Delete conf/modules/rover.xml
The creation of this file was a mistake.
* NPS for rover fixed
* rover_guidance_steering periodic -> autopilot state machine
* Fixes and comments
this is not a proper fix, but a workaroud to compile example files and
prevent to use the old ins_neutrals.xml file that is no longer valid.
the issue of ins neutrals should be treated correctly later, either by
adding proper settings to each modules that requires it, or using a
ins_common module
some errors after #2828
- fix all airframes using dual boards
- fix calls to ap_state or old imcu API
- fix some includes
- protect some code to compile test programs (without 'commands' API)
close#2840
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
These patterns have been developped during an atmospheric science
project to track clouds in real-time based on sensor data.
The modifications includes:
- adding adaptive nav modules (lace, rosette, trinity, spiral_3D)
- new or improved meteo sensor modules (cloud sensor, meteostick)
- improvements to mission interface (UPDATE message, waiting patterns,
unique ID check)
- compact telemetry message MINIMAL_COM to reduce bandwidth (message
supported by server and logplotter)
- basic cloud simulation module (circle or polygon sector) and demo
flight plan
See for details:
Titouan Verdu, Gautier Hattenberger, Simon Lacroix. Flight patterns
for clouds exploration with a fleet of UAVs. 2019 International
Conference on Unmanned Aircraft Systems (ICUAS 2019), Jul 2019, Atlanta,
United States. https://hal-enac.archives-ouvertes.fr/hal-02137839
- use NAVIGATION_FREQUENCY for all firmwares
- use 20 Hz as default, unless a PERIODIC_FREQ of 516 is used for
rotorcraft (then keep 16)
- remove old vehicle interface module
- update some files
The idea with 20Hz is to be closer to recent GPS modules providing
positions at 10 to 20 Hz and to have a multiple of the common
frequencies used in the system: 60, 100, 120, 500, 1000, ...
Only execption is the legacy 512Hz where it is better to keep 16 to have
a correct prescaler.
- add a generic linear kalman filter lib
- add a quad model with linear drag and simplified for recent jsbsim
- add example frame and noisy NPS sensor config
see "Estimating wind using a quadrotor" in IMAV2021 proceedings
Ewoud Smeur
Gautier Hattenberger
OpenUAS
Freek van Tienen
Jesús Bautista Villar
Matteo Barbera
Fabien-B
Ewoud Smeur
Rollervi97