* [swarm] add formation control for rotorcraft
Based on Ewoud Smeur (INDI) and Hector Garcia de Marina (Formation
control) work. See
https://blog.paparazziuav.org/2017/12/02/pilot-a-super-rotorcraft
- several UAV can be control from the ground (using a joystick for
instance) by sending proper acceleration setpoint to the INDI guidance
controller
- configuration of the formation is done from a JSON file (2 example
files provided)
Some extra changes:
- update accel from IMU in GPS passthrough INS
- add accel setpoint to ABI messages
- by to accel setpoint in INDI guidance
- send ground reference from natnet2ivy
- possibility to have a joystick labeled 'GCS' with input2ivy
While on newer firmware there is no version.txt anymore the script would give "Checking Bebop firmware version... 0.0.0.0" and continue. So not s strictly needed change. we should then check from "/data/FVT6.txt" there you find :FWVersion= or last resort eeprom.dat.txt contains build info like : date Feb 14 2018 time 09:36:04, we should not force max versionb allowed only give a warning "non tested firmware, proceed with caution" or some tinh along that line. As Soon as we testflown a newer firmware well still highen this number anyhow.
* Bump rustlink
* Changes in GEC, now communication and key exchange works. TODO is key renegotiation and some cleanup
* Bump pprzlink
* Update in GEC and related control panel configs
* Updated name
* Bump rustlink
* Changes in GEC, now communication and key exchange works. TODO is key renegotiation and some cleanup
* Bump pprzlink
* Update in GEC and related control panel configs
* Update atomic settings
* Minor changes, style fix
* Code style fix
* More code style fix
* Add nps target to cv_opencvdemo module
Also re-enabled the canny edge detector example, as the result
is easier to see than the blurring example.
Added the LDFLAGS produced by the current version of opencv_bebop.
* Ignore uncommitted changes to opencv_bebop submodule
Added an "ignore = dirty" flag to .gitmodules to prevent opencv_bebop
from showing up in the git status with uncommited changes once it is
installed.
* 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
* Fixed string related build warnings
* Changed Failures to accept all strings
* Updated pprzlink for v405 fix
* updated use of lowercase, uppercase and capitalize
Michal Podhradsky
Gautier Hattenberger
Open UAS
Michal Podhradsky
Titus
Fabien-B
kevindehecker
Hector Garcia de Marina
OpenUAS
Ewoud Smeur
matejkarasek
Kirk Scheper
Tom van Dijk
Rijesh Augustine
Tom van Dijk