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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
789437978d
* [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
25 lines
587 B
XML
25 lines
587 B
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="fc_rotor" dir="fc_rotor">
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<doc>
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<description>
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Algorithm for the formation control of a team of rotorcrafts.
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The vehicles are are running the INDI control and the desired acceleration are given by script from ground.
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</description>
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</doc>
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<header>
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<file name="fc_rotor.h"/>
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</header>
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<init fun = "fc_rotor_init()"/>
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<datalink message="DESIRED_SETPOINT" fun="fc_read_msg()"/>
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<makefile firmware="rotorcraft">
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<define name="FC_ROTOR"/>
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<file name="fc_rotor.c"/>
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</makefile>
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</module>
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