* added rangesensors to gazebo model and NPS
* added module to handle the range sensors
* added sender IDS and added to abi messages
* added abi message to flight plan guided
* added decawave_serial_communication module files
* added reference to arduino library in module comments
* added abi message
* fixing abi send
* added abi
* compiles
* tested on bebop2 drones with decawave modules
* improved module description
* cleanup
* fixed code-style
* pprzlink same as master
* updated subrepos opencv_bebop
* temp
* temp
* temp
* addressed define and global variable comments
* Addressed comments on define macros and abi.xml
* making functions more general
* fix up
* tested!
* removing last global variables
* renamed temp variables
* must have messed up the message decoding/sending
* successfully tested
* clean-up
* changed variable names as necessary
* float size define removed
* last changes + tests
* removed test module
* removed unnecessary includes and added endline characters
* 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
I added an optical flow landing module for rotorcrafts.
It uses the size divergence from the optical flow algorithm to keep a constant divergence
(if set negative the drone will land, 0 = hover, and positive is going up).
Advantage with respect to a GPS landing is that it will take into account the landing surface,
even if it is higher than the ground level (so landing on a roof for instance).
The module does not use sonar for the vertical control, so it can be used by tiny drones that do not carry sonar.
The module uses a novel theory on seeing distances with just a single camera (no extra sensors) to detect when it should land.
So it can also be used by drones to estimate distance with a single camera.
closes#1611
* master: (75 commits)
[maps] hopefully finally fix google maps version download
[rotorcraft] navigation: use NAV_FREQ to update stage and block time
[simulator] use unconnected socket for FlightGear viz
remove trailing whitespaces
source and xml files should not be executable
[modules] flight_time: move settings into module xml file
[settings] remove some obsolete files
[modules] flight_benchmark: move settings into module xml file
[gps] refactor sendng of SVINFO
[modules] dc: use state interface for utm position
[airframes] replace joystick subsystem by USE_JOYSTICK
[paparazzi.py] Produces .md with branch description
[modules] airspeed_ets: retry after failed transaction
dox fixes
Correct mode behaviour joystick
[ahrs] quaternion integrator fix
[conf][joystick] update some joysticks with kill_throttle examples
[math][dox] add some dox about euler convention
[modules][messages] add AMSL message to air_data
[modules] air_data: init vars as unknown
...
- unified interface for sonar (sonar_adc was broken with latest commit
for ardrone)
- median filter removed from ins_int, implement in sonar drivers if
needed
- compiles but not tested yet
Gautier Hattenberger
Kirk Scheper
Mario Coppola
Titus
knmcguire
Ewoud Smeur
Christophe De Wagter
guidoAI
Felix Ruess