- fix KILL_SWITCH channel name
- give priority to KILL_SWITCH over AUX1
- add missing comments for forceprog option
- swap radio_control power logic (spektrum port)
- add comment for modem port
The barometer measures in the lla frame, but the INS is in the NED
frame. Conversion is therefore necessary.
Use a simple calculation using the earth's radius
* update INDI tu use full control effecitvens matrix
Instead of using commands (roll, pitch, yaw, thrust), give the
controller direct control over all actuators.
This allows for online individual actuator control effectiveness
estimation and inversion, as well as better saturation handling.
The INDI controller as it was previous is renamed to 'simple'.
* Made INDI more flexible wrt number of actuators
- 4x4 matrix inverse to accomodate the thrust axis as well
- support for more actuators
- cleanup of code
* Change filters guidance indi to butterworth
* Added body acceleration to state interface
* Better adaptation and guidance thrust increment
- Adaptation flexible wrt. number of actuators.
- Added adaptation of the specific force effectiveness of the actuators.
- Added connection to guidance INDI through ABI. The thrust increment is
caclulated in guidance INDI and sent to the stabilization.
* lower case variables
* change filter of indi to butterworth
* INDI fix array index & no declarations in for loop
- Also added doxygen comments
* Added actuators_pprz
the array actuators is used to drive the servos, so a new array to store
the command to the actuators in pprz scale is needed
* Removed hardcoded scaling
* Lsm303d spi driver
* Use lsm303d for pixhawk instead of depricated lsm303dlhc
* Fixed the actual acc problem
* Removed lsm303dlhc_spi device, which does not even exist
* Updated acc calibration after solving scaling bug
* INDI adaptive tuned Iris
* Conf stuff
* Remove seperate pid airframe, as indi works pretty good and I'm not maintaining it anyway
* Fixed units in airframe file
* Enlarged range of slider for indi max rates
Fixed the velocity messages (using the correct variables)
Works for PX4FLOW mounted as described here: https://pixhawk.org/modules/px4flow
Option to use i2c or UART to get data from PX4FLOW
Sends debug messages (maybe make optional if needed).
