* 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
* Changed to use the filter interface
* Cleaning defines from airframe files
* update module doc
* [conf] Fix Nederdrone back wing numbering
* Filter frequency in Hz
* Fix nameing with prefix
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
* [cleaning] removing some old stuff
- infrared sensors and related ahrs
- mkk and asctec actuators
- old carto modules
- fix bebop actuators for NPS
- clean airframe and conf
* [conf] add back asctec_v2 actuators that is still being used
* [abi] Add timestamp to AGL and BARO_ABS
* [make] Add support for c++0x for all architectures
* [math] Add air density calculation
* [gps] Add horizontal and vertical position accuracy
* [boards] PX4FMU change default baudrate and add SBUS
* [ins] Add EKF2
* [tests] Add Bebop2 with EKF2
* [nps] Fix jsbsim simulator initialisation and GPS accuracy
* Predicting flow
* setting the camera intrinsic paramters in the videoconfig struct (and potentially in the airframe file)
* Code style fixed
* implemented all suggested changes
* Removed remaining error - checked both front and bottom cam
* Last changes for pull reques, plus removed warning local shadowing success variable
* some changes, but still not working
* For now, never send vertical velocity estimations from optical flow
* changed vertical velocity limits
* Also set the variance of the vertical measurement high.
* Negative value for variance should disable the vertical velocity update altogether
* 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
* 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
Gautier Hattenberger
Christophe De Wagter
Freek van Tienen
guidoAI
Ewoud Smeur
Fabien-B
Ewoud Smeur
Tom van Dijk
Chris de Jong
Kirk Scheper
Bart Remes
Tom van Dijk
Titus
Michal Podhradsky