* First steps towards detailed cyberzoo model. Got transparency working.
* Fix ambient lighting of cyberzoo_solid
* Import improved model
* Fix optitrack cameras
* Fix lighting colors
* Fix optitrack camera color
* Add orange pole and traffic mat objects
* Fix orange_pole2 smoothing errors
* Fix cyberzoo origin
* Add first draft of cyberzoo surroundings
* Add updated cyberzoo surroundings and outside walls
* Minor fixes to surroundings
* Create cyberzoo world
To-do: set origin coordinates and rotate environment
* Set world coordinates and rotation, fix naming conflict
* Add cyberzoo world with orange poles for orange_avoider
* Remove old cyberzoo model, fix dependencies
* Add daylight in windows on outer walls
* Separate cyberzoo model into layers
Makes it easier to hide parts of the model in the GUI.
* Add cyberzoo surroundings to main model in separate layers
* Restore cyberzoo floor collision box
* Add cyberzoo props
* Minor tweaks to models
* Compress textures
Reduced texture dimensions. Size of model folder is now approx.
20 MB instead of 60+ MB.
* Remove origin marker from worlds
* Move CyberZoo models to submodule
- All new models are moved to the tudelft/gazebo_models repository, which is included as a submodule in sw/ext/tudelft_gazebo_models/
- Changed vehicle and world SDF loading to use URI's, these can be used with multiple search paths
- Added gzclient_launcher.sh script that sets up environment variables before launching gzclient. This prevents errors if the user forgets to add the paths to .bashrc. Added as a tool to control_panel_example.xml
* First attempt at bebop fisheye camera
* Try setting raw camera output size during initialization, does not work
SetImageSize() is ignored and SetEnvTextureSize() causes an
exception. Currently the camera output is too large for real-time
operation.
* FIX apply MT9F002_OUTPUT_SCALER to gazebo front camera
* Add MT9F002 camera cropping to fdm_gazebo
* Apply MT9F002_TARGET_FPS to bebop front cam in gazebo
* Set up bottom camera for bebop model
* Minor fixes and cleanup
* Fix MT9F002 partially applied to all cameras
* Remove sensors_params_bebop, introduce NPS_SIMULATE_MT9F002
Reduces duplicate code for sensor parameters, and follows the
same pattern as NPS_SIMULATE_LASER_RANGE_ARRAY.
Also does not require the sensor params to be changed in every
bebop airframe.
* Add gazebo model for Parrot Bebop 1
* Add first-order high pass filter
* First implementation of actuator dynamics and spinup torque
Flies ok with PID control
Does not fly ok with INDI, the required G1 R is 0.159 instead of
0.0022 (estimated by flying in adaptive mode). The other parameters
are close to those specified in the airframe file.
* FIX incorrect yaw behavior
Fixed two bugs:
1. gazebo_actuators.torques was set to NPS_ACTUATOR_THRUSTS
2. spinup torque direction is now also controlled by motor mixing
* Clean up debug code and file logger
* Clean up gazebo example airframes
* Minor cleanup
* FIX warnings about missing initializer in fdm_gazebo
* Update documentation
* Remove modules section, move to firmware
* Minor fixes to fdm_gazebo and high_pass_filter
* Move actuator dynamics to included airframe files
Should prevent duplicate actuator defines spread accross all
airframe files.
* Fix FILTER_ROLL_RATE in bebop2_indi airframe
Moved to firmware targets so it will be disabled in gazebo.
Is this actually working in jsbsim??
* Update documentation
* Fix newlines
* Minor fixes in nps_fdm_gazebo.cpp
* Re-enable filter roll rate
Caution: causes oscillations around roll axis in gazebo
* Disable roll filter and cleanup
* added rangesensors to gazebo model and NPS
* added module to handle the range sensors
* added sender IDS and added to abi messages
* added abi message to flight plan guided
* Setup code for Gazebo
Currently only partially initializes the fdm struct, which produces
incorrect results in the GCS.
Compilation, however, already seems to work as expected!
Next step is to fetch data from Gazebo.
* Closed-loop flight in Gazebo
Finished the first implementation of the Gazebo FDM. It is now possible
to perform closed-loop flights using Paparazzi together with Gazebo.
Look at the example_ardrone2.xml airframe file for the required gazebo tags.
The following modifications are made:
- change fdm type to "gazebo"
- add definitions for ACTUATOR_THRUSTS and ACTUATOR_TORQUES. These were
obtained from the JSBsim ardrone model. The oredr is the same as the
ACTUATOR_NAMES.
The Gazebo world needs an aircraft model that is (by default) named
"paparazzi_uav". This model should include links with the names listed
in ACTUATOR_NAMES in the airframe file, as these are used to apply
forces on the quadrotor.
Known bugs:
- No fixed wing aircraft yet.
- Not all fields in the fdm struct are set. Most of the atmosphere
fields are not implemented yet.
- AHRS and INS need to be bypassed, these do not yet work correctly.
- No quadrotor models are supplied with paparazzi yet (although it is
included in the example world file).
* Added cameras, but sensor update causes crash
As in the quick standalone examples, gazebo regularly crashes when
cameras are used.
This is an intermediary commit where most of the camera infrastructure
is present, but not functional yet because of an unknown bug regarding
Gazebo.
* Simplified problem, located crash
Crash occurs when gazebo::sensors::run_once() is called during
the fdm update step. The exception (Ogre internal exception,
cannot create GL vertex buffer) only occurs after the main loop
has been performed a few times (10-20x typically).
Ignoring the error by catching the exception does not make it go
away.
* Add ogre to fdm_gazebo makefile
* Further changes for debugging, not fixed yet
* FIX bug
Turns out that fdm_init and fdm_run_step are not running in the same
thread, which apparently caused some problems with Gazebo.
The gazebo initialization code that starts the server is now moved
to the run_step function, and cameras work fine now.
Next step is to get the images from Gazebo to the video_thread_nps module.
* Transport images to Paparazzi
Added code that converts Gazebo's RGB888 images to Paparazzi's
YUV422 format, and calls the registered video callbacks.
* Finish video streaming
Finished video streaming. Video streaming in the paparazzi master
branch does not seem to work in simulation or even on a real ardrone.
Therefore, reverted to v5.10 viewvideo.c and rtp.c and now the streaming
works correctly.
* Separate UAV model from world.
Added a models/ directory to conf/simulator/gazebo, now the UAV model
can be included in the world file. The models/ dir is added to Gazebo's
search paths when the server is launched, so it does not require
any additional steps from the user.
* Move Gazebo modifications from examples/ardrone2.xml to examples/ardrone2_gazebo.xml
Reverted changes to the original airframe and moved these to a
separate example.
* Remove .sdp file
Remove .sdp file that should not have been included with commits.
* Move changes in conf_example.xml to separate entry
Moved the changes to conf_example.xml (selected flightplan, modules etc.)
to a separate etry named 'ardrone2 (Gazebo)'.
* Clean up changes to computer_vision module
- Removed unused viewvideo_nps.c.
- Add doc comments in video_thread_nps.c
* Fix bug in conf_example
Spaces in aircraft name caused compilation error, changed to
'ardrone2_gazebo'.
* Fix duplicate ac_id in conf_example
* Remove debug code from nps_fdm_gazebo.cpp and add comments
* Reduce weight of cameras
Cameras weighed 10 grams, which was quite much. Now reduced to 1 gram.
* Fix camera not active
During the cleanup of the ardrone gazebo model, the always_on tag
was removed. Now, the cameras are activated during gazebo_video_init
Also removed further debug code from nps_fdm_gazebo.cpp.
* Restore master branch video streamer and rtp encoder
The streamer of the master branh does not work correctly atm, but
this will be moved to a separate issue.
* Fix compilation warnings
Fixed all compilation warnings (tested with Gazebo 8).
Unused arguments are now marked as such.
The NPS makefile is modified to use CXXFLAGS in addition to CFLAGS,
which solves the std=c++11 related warnings.
fdm_gazebo.cpp now ignores deprecated warnings, as all of these
come from Gazebo. Not the cleanest solution, but it works for now.
* Add documentation to fdm module xml and add copyright notices where appropriate
* Fix code style
Fixed code style using the tool included with paparazzi.
* Fix missing model.config
.gitignore caused the model.config files for the Gazebo models to
be excluded from the commit. Added an exception to .gitignore and
added the missing file.
* Fix INS by adding placeholder atmospheric data values
Added placeholder values to the atmospheric section of the NPM
struct. These should be valid for low altitude, low speed flights.
Previously, these values were uninitialized which caused INS to fail
(incorrect altitude estimates). With these placeholder values,
the INS works ok and no longer needs to be bypassed.
* Fix makefile targets in video_rtp_stream and cv_colorfilter
(Re)added target="ap|nps" attribute to the module .xml files.
* [nps] add angle of attack and sideslip to NPS
* [module] extra_dl can work with nps
* [module] add sideslip sensor to aoa_pwm module and fix apogee board file
* [module] add wind estimation module
This module is an experimental wind estimation filter based on UKF that
aims at estimating all 3 local wind components in real-time.
It is based on ChibiOS as the algorithm runs in a dedicated thread.
The algorithm itself is generated from a Matlab/Simulink model.
* [tool] read Meso-NH meteo data and feed NPS with wind information
* [module] remove nps target from extra_dl, uart not well supported on FW
* [mesonh] remove unused UDP interface
* [chibios] add compilation error message for wind estimator module
* [autopilot] refactor autopilot API for both firmwares
With this, fixedwing and rotorcraft are mostly using the same interface
for the autopilot. Some specific code and messages handling are still
firmware dependent.
A large part of the autopilot logic of the fixedwing is moved from
main_ap to autopilot_static.
More getter/setter functions are provided.
* [autopilot] update the rest of the system and the conf
for using the refactored autopilot API
* [autopilot] fix some errors from CI servers
* [actuators] use dummy actuators module to prevent autoloading
* Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml
* Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml
* Delete tudelft_course2016_bebop_colorfilter.xml
* Delete tudelft_course2016_bebop_avoider.xml
* [actuators] don't autoload actuators when set to 'none'
* [gcs] autodetect firmware for strip mode button
* FlighGear and Ivy thread working
* Main loop replaced with main_thread
* Cleaned up nps_main
* HITL main - test TX with Vectornav
* Added AggieAir control panel
* [modules] Flight logger module added
* [fixedwing] Airframe configuration updated
* [hitl] Proof Of Concept - IO and simulation running
* [nps] Minor changes in main hitl
* [nps] Performance Test with Pthread library
* [hitl] Working with pthreads instead of glib threads
* [hitl] Minor updates
* [nps] Refactoring to get rid of Gthreads
* [nps] Minor changes, added mutex guards
* [nps] Minor Ivy fix
* [nps] Threads working properly
[hitl] Ins separated
* [hitl] Check for launch variable
* [nps] Refactoring makefile into common and hitl/sitl specific
* [hitl] Hitl works, sitl too
* [hitl] ins_vectornav comments
* [hitl] Updated launch routine
* [nps_hitl Cleaned up version of NPS/HITL
- added support for ACTUATORS message (Rotorcraft)
- resolved start issue for Fixedwing (works fine now)
- minor improvements in threads (fg_thread, ap_init)
* [nps] Minor fixes to save current work
* [nps] Minor fixes
* Update to latest pprzlink
* FlighGear and Ivy thread working
* Main loop replaced with main_thread
* Cleaned up nps_main
* HITL main - test TX with Vectornav
* Added AggieAir control panel
* [modules] Flight logger module added
* [fixedwing] Airframe configuration updated
* [hitl] Proof Of Concept - IO and simulation running
* [nps] Minor changes in main hitl
* [nps] Performance Test with Pthread library
* [hitl] Working with pthreads instead of glib threads
* [hitl] Minor updates
* [nps] Refactoring to get rid of Gthreads
* [nps] Minor changes, added mutex guards
* [nps] Minor Ivy fix
* [nps] Threads working properly
[hitl] Ins separated
* [hitl] Check for launch variable
* [nps] Refactoring makefile into common and hitl/sitl specific
* [hitl] Hitl works, sitl too
* [hitl] ins_vectornav comments
* [hitl] Updated launch routine
* [nps_hitl Cleaned up version of NPS/HITL
- added support for ACTUATORS message (Rotorcraft)
- resolved start issue for Fixedwing (works fine now)
- minor improvements in threads (fg_thread, ap_init)
* [nps] Minor fixes to save current work
* [nps] Minor fixes
* Update to latest pprzlink
* Fixed the feed function
* Compilation fixes
* More compilation fixes
* Last compilation fixes
* Added a simple automated flight plan (auto take off and landing)
* Fixes in NPS
* Removed SBUS fakerator
* Removed superfluous "else"
* Renamed "flight recorder" to "xgear"
* Fixed formatting
* Updated extra_dl module
* Initial support for extra_dl to run over USB serial
* Fixed usb_serial for extra_dl
* extra_dl_periodic() called at TELEMETRY_FREQUENCY
* Various coverity fixes (High Impact Outstanding)
* Removed typo in comment
* Removed wrong line of code.
* Minor fixes
* snprintf finally done right
* Added space
* Wind direction finally OK
This pull request allows you to use both the front camera and the bottom camera on the bebop, and to run optical flow on the bottom camera while running something else on the front camera.
- modules can call cv_add_to_device(&camera, fun) to register the callback fun for the specified camera with the video thread
- use a linked list with listeners for the video
- saving jpeg encoded shots is now in a separate video_capture module
- get rid off all the datalink parsing "hacks" and use the actual parser from the firmware
- this however means that you need to run link with the -udp option to use the NPS sim
Kirk Scheper
Tom van Dijk
Felix Ruess
Michal Podhradsky
Christophe De Wagter
Michal Podhradsky
Gautier Hattenberger
Ewoud Smeur
Michal Podhradsky
Roland Meertens