* updated distance measurement script.
- automatically shows which ids are available
- filter out big jumps
- plot_summary.py shows distance over time with recording regions
* Adding config file for radiomaster pocket joystick ble/usb (#108)
* added radiomaster tx16s xml (#123)
Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl>
* Fix joystick device argument parsed as single token in control panel sessions (#118)
The `-d 0` joystick device flag was passed as a single `flag` attribute,
causing the joystick program to receive it as one token instead of two
separate arguments. This prevented the device number from being recognized,
breaking joystick input in the Simulation - Gazebo and Flight UDP sessions.
Fixed by splitting into `<arg flag="-d" constant="0"/>`.
Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
* fixed names of variables and resolution bugs, added documentation (#113)
Co-authored-by: macoman <macoman@student.tudelft.nl>
* Update Gazebo Models: Gate, Plants, Logo
* Added some (math) tests (#114)
* added a test for paparazzi's math librarie's int sqrt function and int quaternion normalization function
* Keep essential tests
Reduced the number of tests planned from 9 to 6 and removed tests for int32_sqrt.
---------
Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl>
Co-authored-by: AniketBehura <aniketbehura1023@gmail.com>
Co-authored-by: diaa <D.abbasi@student.tudelft.nl>
* Feat: readme update for submodule installation (#115)
* feat: readme update for submodule installation
* Rename README to README.md
---------
Co-authored-by: Christophe De Wagter <dewagter@gmail.com>
---------
Co-authored-by: robinferede <robinferede@tudelft.nl>
Co-authored-by: Robin Euger <robin.euger@gmail.com>
Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl>
Co-authored-by: EAbbenhuis <113993394+EAbbenhuis@users.noreply.github.com>
Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-authored-by: Mihai Coman <127535163+miki133@users.noreply.github.com>
Co-authored-by: macoman <macoman@student.tudelft.nl>
Co-authored-by: Swayam Kuckreja <110131770+swayamkuckreja@users.noreply.github.com>
Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl>
Co-authored-by: AniketBehura <aniketbehura1023@gmail.com>
Co-authored-by: diaa <D.abbasi@student.tudelft.nl>
Co-authored-by: Douwe-Rijs <Douwe@standofl.nl>
This PR allows to redefine the outer-loop for stabilization and
guidance, and to specify the guidance model for something else than a
quarotor (but still not an hybrid).
Two use case are proposed:
- replace the PD control of the outer-loop (still used by default) by
and Hinfinity controller
- parametrize the guidance for an hexa-copter with tilted motors,
allowing to produce side force for lateral motion control.
* Make UAVCAN arch independant
* Comply with uavcan info requests
* Comply with uavcan transfer_ids specifications
* Add uavcan dynamic node id allocation server
* Add uavcan tunnel device
* Add uavcan RC input
* Use uavcan semaphores to achieve thread safety
* Add key-value store
* Various tweaks to make everything work...
* [actuator] change configuration of actuators
- add a configuration structure to the actuators array
- limit the use of macros
- add a shell command to get and set actuator value
- update config for all boards
* fix actuator faulhaber for NPS
* add missing file in actuators nps
* [fix] fix some bugs
small errors from compilation tests
* Attempt to fix the detection of failing tests
Side effect: the file issues.md is not produced anymore, but still available in stdout, so needs a manual copy if needed
* Threads and synchronization abstractions for paparazzi.
* Test module for the threads abstraction.
* Replace old mutexes by the new ones.
---------
Co-authored-by: Fabien-B <Fabien-B@github.com>
* [generator] generate unique ID and names table for modules
* [state] add accessors for the state origin
* [state] don't access directly to state origin, use getters
* [state] filter inputs with module ID
* [ahrs] convert AHRS modules to state input filter
- selection of ahrs with settings from each module
- init functions for each ahrs modules
- remove old chimu
* update unit test
* [ins] decoupled INS implementation
To allow multiple INS at the same time:
- remove weak functions from ins.c
- remove the INS_TYPE_H define
- use ABI message to trigger INS reset
* [state] protect for c++
Introducing several changes to the control stask for the stabilization:
- new structures: stabilization, stab (att and/or rates) and thrust (vector)
- more functional approach: stabilization receives the stab and thrust
setpoints from guidance and fill command vector at the end
- modes and sub-modes are redefined (split stab and guidance modes),
some AP modes are removed (FLIP and MODULE)
- RC read functions are removed and replaced by ABI bindings, one for
each part (AP, stab, guidance_h, guidance_v) with dedicated functions
- transition ratio (float in [0-1]) replace transition_percentage (int)
- the AP_MODULE mode is replaced by generated autopilot
- the ABI hack for guidance indi is not needed anymore
- AP generator supports a new 'store' attribute to use return values of
functions
- cleaning of the stabilization API (for setter functions)
- the exact same basic model is now a NPS FDM
- sim target still woks, it is just an alias to NPS with the proper FDM
- the old ocaml files are removed
- AHRS and INS are bypassed, since the accelerations are not well calculated by the model
* [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
There is no longer a separated FBW in normal operation for fixedwing,
only a single AP task/thread.
The code for main_ap is now factorized for all firmwares.
Dual MCU support (separated AP and FBW) is still possible, based on the
rotorcraft implementation and intermcu pprzlink messages. Relevant code
is also factorized and available in all firmwares.
The recovery mode (in case of hard fault) is still available for
fixedwing with ChibiOS implementation.
Only intermcu_uart is supported at the moment. Other options (spi/can)
might be added back in the future if really used.
Some other evolution are made:
- in the radio_control and actuators modules, now integrated to AP and
using ABI messages
- the message parsing on datalink event (defined in module) that is now
properly filtering the messages based on their class and allowing to
have multiple callbacks for the same message
- cleaning the part of code that were using the old intermcu fixedwing
interface
When adding a test node to a makefile section, with required compilation
flags, include and other options, all the files (not arch dependent
files) can be compiled with a TAP compatible program, included in the
standard tests of the CI servers.
Not all module's XML files are converted, but a large part of the most
important parts are already covered. More will be added later. The
number of tested airframes (full compilation of all targets) have been
reduced to speed the CI compile time but still covers the relevant
architecture and boards.
The main benefit is that the overall coverage is already better than
before as previous test aircraft were compiling more or less the same
part of the airborne code, while this new mechanism is more efficient to
test modules not included in any config.
* math functions and high pass filter
high pass filter uses doubles to avoid numerical errors
* determinant check
Also reverse order such that output comes first in the argument list
* removed function prototypes
- only fold arrays on 'name' for aircraft, firmware and target to not get warnings about none unique 'name' attribs for modules and subsytems
- if airframe file could not be parsed, show error at the end
If the CONF_XML environment variable is set, use that conf.xml file instead of the standard $PAPARAZZI_HOME/conf/conf.xml
Meaning you can run tests for a different conf without changing the conf.xml symlink, e.g.
```
CONF_XML=$PAPARAZZI_HOME/conf/conf_tests.xml prove tests/examples
```
using [libtap](https://github.com/zorgnax/libtap) to create a [TAP](http://testanything.org) (TestAnythingProtocol) producer.
You can also run the test (if already compiled) with prove:
```
prove --exec '' tests/math/test_pprz_math.run
```
Examples on how to test compile all aircrafts/targets in your current conf.xml:
with parallel compilation and showing full output during compilation
$ J=AUTO prove tests/examples -v
only showing full compile output if there has been an error, if there were warnings only print those
$ SHOW_WARNINGS_ONLY=1 prove test/examples
with parallel compilation and treating all warnings as errors:
$ J=AUTO USER_CFLAGS=-Werror prove tests/examples
Christophe De Wagter
Fabien-B
Gautier Hattenberger
Freek van Tienen
Kirk Scheper
Ewoud Smeur
Felix Ruess