- old way (based on ins_vectornav) is not supported anymore
- directly send sensor data and receive commands with a dedicated link
- examples with USB link for better results
- update sphinx documentation
- compilation in a single build
* Squash on master
* fix bebeop2_flow
* Divergence is more noisy than previous time... added a low-pass filter, and allow for a higher threshold...
* fixed the sim, removed warnings, removed double airframe
* cleanup airframe, remove all warnings, allow placing camera parameters in sections
* PPRZLINK
* Silent warnings and compile errors
* reintegrated pprzlink
---------
Co-authored-by: guidoAI <guido.de.croon@gmail.com>
* [wls] make WLS lib, add support for guidance_indi_hybrid
* [wls] update test program
* [wls] restore static matrix size for WLS
* [wls] update test prog
* [indi] ABI thrust message to 3D vector (#3116)
* [indi] ABI thrust message to 3D vector
Common WLS for innerloop and outerloop
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
* Bound defaults to min in case of NaN
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
* [guidance_indi] lift effectiveness and set stabilization limits in WEAK (#3117)
* do not allow code to run with insufficient matrix sizes
* Prefer not to roll when able.
* [wls] only check size if WLS is used
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
* [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)
* 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
* [modules] system identification updates: auto-doublet-sequence, new doublets, RC-triggered chirps, testing
extra sysid
rename generic
test compile
* defines in a section instead of gcc, cleanup docs
* [module] moving_target allow storing specific gains in airframe files and put all settings in the struct and remove unused
* requested changes
* [airframes] update setting defines
* 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>
* fix guidance_v in flight plan and remove old settings
* nav radius, descend and climb
* [stab] make a attitute set quat function
* fix function name
* fix parsing of variables in proc, don't use = in fp
* fix nav heading in modules
* fix some more errors
* fix var name
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
* 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>
* [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
* update enac conf and imav2022 flight plans
* collection of small corrections and improvements
- default mode is NAV for rover steering
- no rover throttle when killed
- xbee link doesn't send data to modem before end of config
- fix alt in server (geoid/ellipsoid)
- support GPS_INT in sd2log
- don't increment position in follow module
- use correct angles for hybrid
- 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
Gautier Hattenberger
Christophe De Wagter
Freek van Tienen
guidoAI
Ewoud Smeur
Fabien-B
OpenUAS
Jesús Bautista Villar