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synced 2026-05-09 22:49:53 +08:00
Tom van Dijk
cfabb51eed
* 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
If you have your own autonomous aircraft, it is really apriciated if you would: * Create your own short UPPERCASE directory name within this one, e.g. "MYX" * Prefix your airframe names with the same name in lowercase and add an underscore, e.g. myx_superdart.xml This will make your life of updating Paparazzi much simpler... It can be helpful to take a look at how other paparazzi enthousiasts like you did just that. TIP: Remember to put the following DOCTYPE line in the top of your airframe file: <!DOCTYPE airframe SYSTEM "../airframe.dtd"> Have a great day!