[paparazzi-commits] [paparazzi/paparazzi] 0d42cd: [control] rework the stabilization for rotorcraft

[Gautier Hattenberger]

  Branch: refs/heads/stabilization_rework-integration
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 0d42cd1c426c9c01612abf93fcbe7084b195afef
      
https://github.com/paparazzi/paparazzi/commit/0d42cd1c426c9c01612abf93fcbe7084b195afef
  Author: Gautier Hattenberger <gautier.hattenberger@enac.fr>
  Date:   2024-04-08 (Mon, 08 Apr 2024)

  Changed paths:
    M conf/airframes/ENAC/hybrid/falcon_v1.xml
    M conf/airframes/ENAC/hybrid/falcon_v2.xml
    M conf/airframes/examples/bebop2_opticflow.xml
    M conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
    M conf/airframes/tudelft/bebop_OF_hover.xml
    M conf/airframes/tudelft/guido_ardrone2_optitrack.xml
    M conf/autopilot/autopilot.dtd
    M conf/autopilot/rotorcraft_autopilot.xml
    A conf/autopilot/rotorcraft_control_loop.xml
    M conf/autopilot/rotorcraft_oneloop.xml
    M conf/autopilot/rotorcraft_oneloop_with_backup.xml
    M conf/modules/ctrl_module_innerloop_demo.xml
    M conf/modules/ctrl_module_outerloop_demo.xml
    M conf/modules/ctrl_windtunnel.xml
    M conf/modules/guidance_rotorcraft.xml
    M conf/modules/hard_fault_recovery.xml
    M conf/modules/obstacle_avoidance.xml
    M conf/modules/optical_flow_hover.xml
    M conf/modules/optical_flow_landing.xml
    M conf/modules/opticflow_hover.xml
    M conf/modules/stabilization_float_euler.xml
    M conf/modules/stabilization_float_quat.xml
    M conf/modules/stabilization_heli_indi.xml
    M conf/modules/stabilization_indi.xml
    M conf/modules/stabilization_int_euler.xml
    M conf/modules/stabilization_int_quat.xml
    M conf/modules/stabilization_oneloop.xml
    M conf/modules/stabilization_passthrough.xml
    M conf/modules/stabilization_rotorcraft.xml
    M conf/modules/vertical_ctrl_module_demo.xml
    M conf/userconf/tudelft/conf.xml
    M sw/airborne/boards/bebop/actuators.c
    M sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
    M sw/airborne/firmwares/rotorcraft/autopilot_generated.c
    M sw/airborne/firmwares/rotorcraft/autopilot_guided.c
    M sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
    M sw/airborne/firmwares/rotorcraft/autopilot_static.c
    M sw/airborne/firmwares/rotorcraft/autopilot_static.h
    M sw/airborne/firmwares/rotorcraft/autopilot_utils.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid_quadplane.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_pid.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_pid.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
    M sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
    M sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h
    M sw/airborne/firmwares/rotorcraft/stabilization.c
    M sw/airborne/firmwares/rotorcraft/stabilization.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
    A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_direct.c
    A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_direct.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
    R sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
    R sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_oneloop.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_oneloop.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c
    M sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.c
    M sw/airborne/modules/ctrl/ctrl_module_innerloop_demo.h
    M sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.c
    M sw/airborne/modules/ctrl/ctrl_module_outerloop_demo.h
    M sw/airborne/modules/ctrl/ctrl_windtunnel.c
    M sw/airborne/modules/ctrl/ctrl_windtunnel.h
    M sw/airborne/modules/ctrl/eff_scheduling_cyfoam.c
    M sw/airborne/modules/ctrl/eff_scheduling_generic.c
    M sw/airborne/modules/ctrl/optical_flow_functions.c
    M sw/airborne/modules/ctrl/optical_flow_functions.h
    M sw/airborne/modules/ctrl/optical_flow_hover.c
    M sw/airborne/modules/ctrl/optical_flow_hover.h
    M sw/airborne/modules/ctrl/optical_flow_landing.c
    M sw/airborne/modules/ctrl/optical_flow_landing.h
    M sw/airborne/modules/ctrl/scheduling_indi_simple.c
    M sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c
    M sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h
    M sw/airborne/modules/display/max7456.c
    M sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c
    M sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.h
    M sw/airborne/modules/ins/ins_ekf2.cpp
    M sw/airborne/modules/ins/ins_flow.c
    M sw/airborne/modules/ins/ins_int.c
    M sw/airborne/modules/loggers/direct_memory_logger.c
    M sw/airborne/modules/loggers/logger_control_effectiveness.c
    M sw/airborne/modules/loggers/logger_file.c
    M sw/airborne/modules/nav/nav_heli_spinup.c
    M sw/airborne/modules/nav/nav_rotorcraft_hybrid.c
    M sw/airborne/modules/obstacle_avoidance/guidance_OA.c
    M sw/airborne/modules/obstacle_avoidance/guidance_OA.h
    M sw/airborne/modules/rot_wing_drone/rotwing_state.c
    M sw/tools/generators/gen_autopilot.ml
    M tests/modules/generated/airframe.h
    M tests/modules/generated/modules.h

  Log Message:
  -----------
  [control] rework the stabilization for rotorcraft

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)



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