* [board] support of the Chimera autopilot based on STM32F7
- based on ChibiOS only (updated to master for proper support of F7)
- requires some specific ram for DMA operations
- SBUS driver updated and support of internal inverted logic option of F7
* [chibios] fix some compilation errors
* [chibios] fix some a few PR comments
- test less MCU types
- support F1 for uart driver
- more autodetect for VTOR_INIT
* use correct path
* choose a working version of chibios
* [chibios] fix some comments from PR review
- add some doc
- protect LED
- update TRUE/FALSE for lowercase
- pick a slightly older version of chibios (wrong path in makefile not
fixed yet)
* [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
This pull request adds a rotation matrix to the stereocam module group. The stereocam in combination with the lisa-s, the new lisa MXs, and the ardrone are usually mounted on there in different direction (facing backwards, forwards and downwards). Before, we had to constantly double check the direction of the velocities to transform that manually to body fixed coordinates, which was very prone to mistakes. Same goes with the derotation of optical flow on the stereocam.
This addition should make it easier and more generic for platforms with the mounted stereocamera.
- mostly based on Bebop2
- add PWM output and SBUS input on Linux (based on ArduPilot work)
- some changes to the Linux serial port lib to handle arbitrary baudrate
(this code could be improved and factorized in the future)
- all sensors are working, the video system is not tested
Dual video stream
Adds Auto White Balance and Auto Exposure for front camera on the Bebop (needs a small change to the exposure, found some inconsistencies when performed together with subsampling).
Adds dual video streaming capabilities for the bebop and update the rtp viewer (naming convention may be still changed).
Also updates to the ISP configuration which allows for subsampling and image scaling of the bebop front camera, replaces #1856
support generated autopilot, based on rotorcraft firmware
- By default the original static autopilot is used. A config flag can enable the use of the generated AP code.
- A basic autopilot description is provided (4 modes + failsafe modes).
- The server is capable of using the list of generated mode to properly display mode names.
- Tested in NAV and GUIDED mode in sim, and direct attitude control on real aircraft.
Some extra features:
- add `--norc` option to NPS simulator
- group all system (generated) settings (AP, telemetry, modules, flight plan) under the same tab (first position)
By default the original static autopilot is used. A config flag can
enable the use of the generated AP code.
A basic autopilot description is provided (4 modes + failsafe modes).
The server is capable of using the list of generated mode to properly
display mode names.
Tested in NAV and GUIDED mode in sim, and direct attitude control on
real aircraft.
- While the STM32F411 can run at up to 100MHz, this is not supported out-of-the-box with libopencm3 yet.
So we use the 84MHz clock setup from the STM32F401.
- ADC pins not set up yet
Martin Mueller
Michal Podhradsky
kevindehecker
Gautier Hattenberger
Open UAS
knmcguire
Ewoud Smeur
OpenUAS
Wilco Schoneveld
Felix Ruess
kirkscheper
Michal Podhradsky