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[paparazzi-commits] [paparazzi/paparazzi] 3d3adb: [guidance_v] pass only
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[paparazzi-commits] [paparazzi/paparazzi] 3d3adb: [guidance_v] pass only vertical thrust component t... |
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Date: |
Fri, 13 Sep 2013 07:11:57 -0700 |
Branch: refs/heads/quat_transformations
Home: https://github.com/paparazzi/paparazzi
Commit: 3d3adb7281af3e1d7ddf0801b703a7b26ea3a476
https://github.com/paparazzi/paparazzi/commit/3d3adb7281af3e1d7ddf0801b703a7b26ea3a476
Author: Felix Ruess <address@hidden>
Date: 2013-09-03 (Tue, 03 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c
Log Message:
-----------
[guidance_v] pass only vertical thrust component to gv_adapt_run
Improve issue #527.
Get an estimate of the ctually applied thrust in the direction of the gravity
vector instead of total thrust
to pass to the adaptive nominal thrust estimation.
Still should be improved by using the actual thrust after saturation/mixing...
Commit: 8c71ec676d168e2a4bbfa85cab2b8fcf2054f2e4
https://github.com/paparazzi/paparazzi/commit/8c71ec676d168e2a4bbfa85cab2b8fcf2054f2e4
Author: Felix Ruess <address@hidden>
Date: 2013-09-03 (Tue, 03 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
Log Message:
-----------
[guidance_v] make some functions static
Commit: 0a8cfabd8ab1afa27c694f69a6975fe7feee4eca
https://github.com/paparazzi/paparazzi/commit/0a8cfabd8ab1afa27c694f69a6975fe7feee4eca
Author: Felix Ruess <address@hidden>
Date: 2013-09-03 (Tue, 03 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
Log Message:
-----------
[guidance_v] fix vertical thrust from COMMAND_THRUST
Commit: 70454b1111f75f43cb04698401f4c7084b67535a
https://github.com/paparazzi/paparazzi/commit/70454b1111f75f43cb04698401f4c7084b67535a
Author: Felix Ruess <address@hidden>
Date: 2013-09-03 (Tue, 03 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
Log Message:
-----------
[guidance_v] only compute thrust coeff once
Commit: 5a4b39a417907d51cf765379cefa1fd9f0c12f3b
https://github.com/paparazzi/paparazzi/commit/5a4b39a417907d51cf765379cefa1fd9f0c12f3b
Author: Felix Ruess <address@hidden>
Date: 2013-09-03 (Tue, 03 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
Log Message:
-----------
[guidance_v] slightly more correct and efficient thrust_coeff calc
Commit: 057c842045172a4ac4f6fb4e86f3a818c4255e5d
https://github.com/paparazzi/paparazzi/commit/057c842045172a4ac4f6fb4e86f3a818c4255e5d
Author: Ben Laurie <address@hidden(none)>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
Log Message:
-----------
navdata_port is private.
Commit: b28fae799a7588ad0c0619721551dd6d24532457
https://github.com/paparazzi/paparazzi/commit/b28fae799a7588ad0c0619721551dd6d24532457
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
There's no need for |port| to be dynamically allocated.
Also fixes the bug that if |nav_fd| open fails, port->isOpen and
port->isInitialised are not cleared.
Commit: 1ba778437ee86facadcc8f8bc4053ed3dddf04dc
https://github.com/paparazzi/paparazzi/commit/1ba778437ee86facadcc8f8bc4053ed3dddf04dc
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
Log Message:
-----------
Hide more private data.
Commit: dfe4469e2ca8c7d1012eab12e3ee1ad70e168086
https://github.com/paparazzi/paparazzi/commit/dfe4469e2ca8c7d1012eab12e3ee1ad70e168086
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
Writes can be partial, in theory at least (note, all writes are currently
length 1).
Commit: c37b9aed4c44a30a3e45ca422aeff8994947cbe4
https://github.com/paparazzi/paparazzi/commit/c37b9aed4c44a30a3e45ca422aeff8994947cbe4
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
Read to NULL is not legal.
Commit: 1b46a385593fe1af9b4d1c460b6d8bbe1fd0f6c5
https://github.com/paparazzi/paparazzi/commit/1b46a385593fe1af9b4d1c460b6d8bbe1fd0f6c5
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
Retry blocking writes.
Commit: 888b877f6e31b4a8059416a6c202d25b0f179975
https://github.com/paparazzi/paparazzi/commit/888b877f6e31b4a8059416a6c202d25b0f179975
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
baro_update_logic() can be static.
Commit: aa1bf02200aafe00ef3d77fce0825b96b332c1e2
https://github.com/paparazzi/paparazzi/commit/aa1bf02200aafe00ef3d77fce0825b96b332c1e2
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
Use constants consistently.
Commit: 0726043ac0daa5a57f1fa18cf5757c429650ffdf
https://github.com/paparazzi/paparazzi/commit/0726043ac0daa5a57f1fa18cf5757c429650ffdf
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/navdata.c
Log Message:
-----------
navdata had better be the same size as a packet.
Commit: 508f5ebb408c4680b51a1204750d8f272207d16e
https://github.com/paparazzi/paparazzi/commit/508f5ebb408c4680b51a1204750d8f272207d16e
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/baro_board.c
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
M sw/airborne/firmwares/rotorcraft/telemetry.h
M sw/airborne/subsystems/imu/imu_ardrone2_raw.h
Log Message:
-----------
|navdata| does not need to be dynamically allocated.
Commit: 23a92996ee3434e5166794bc2fa2e7ec19ff82ef
https://github.com/paparazzi/paparazzi/commit/23a92996ee3434e5166794bc2fa2e7ec19ff82ef
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
Log Message:
-----------
Make sure writes complete.
Commit: 7efc5d98935228c79dde710ca2b81bafa69f06fb
https://github.com/paparazzi/paparazzi/commit/7efc5d98935228c79dde710ca2b81bafa69f06fb
Author: Ben Laurie <address@hidden>
Date: 2013-09-08 (Sun, 08 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
Log Message:
-----------
Add full_read().
Commit: dcd5fab03e5fb9a6bae52bbf2455e4a5bd144483
https://github.com/paparazzi/paparazzi/commit/dcd5fab03e5fb9a6bae52bbf2455e4a5bd144483
Author: fvantienen <address@hidden>
Date: 2013-09-11 (Wed, 11 Sep 2013)
Changed paths:
M sw/tools/gen_aircraft.ml
Log Message:
-----------
[generator] Aircraft generator added AC_ID
Commit: b8d3b4794d4dd52c02cc39765fcbeccc77fe30e8
https://github.com/paparazzi/paparazzi/commit/b8d3b4794d4dd52c02cc39765fcbeccc77fe30e8
Author: hendrixgr <address@hidden>
Date: 2013-09-11 (Wed, 11 Sep 2013)
Changed paths:
M sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
Log Message:
-----------
[stm32] actuators_pwm: add TIM1,8,9 and 12
Commit: 95650f488d89d38070d064530d0ac1e693f0b0bb
https://github.com/paparazzi/paparazzi/commit/95650f488d89d38070d064530d0ac1e693f0b0bb
Author: Felix Ruess <address@hidden>
Date: 2013-09-11 (Wed, 11 Sep 2013)
Changed paths:
M sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
Log Message:
-----------
[stm32] actuators_pwm: TIM9 and TIM12 only available on STM32F4
Commit: 4f43ee260d9a4d5a6092ec61fa80e71a0a978e5b
https://github.com/paparazzi/paparazzi/commit/4f43ee260d9a4d5a6092ec61fa80e71a0a978e5b
Author: Felix Ruess <address@hidden>
Date: 2013-09-12 (Thu, 12 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/navigation.c
Log Message:
-----------
[rotorcraft] simplify nav_is_in_flight
Commit: dd3de820d423506bbf4a7b96b6c24769560b414c
https://github.com/paparazzi/paparazzi/commit/dd3de820d423506bbf4a7b96b6c24769560b414c
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/tools/gen_modules.ml
Log Message:
-----------
[tools][modules] add MODULES_FREQUENCY in generated/modules.h
Commit: c061e60246739c2818917b5618cdb17af0753812
https://github.com/paparazzi/paparazzi/commit/c061e60246739c2818917b5618cdb17af0753812
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
M conf/airframes/examples/quadrotor_px4fmu.xml
M conf/airframes/examples/stm32f4_discovery_test.xml
Log Message:
-----------
[conf] explicitly specify modules main_freq for some rotorcraft airframes
Commit: ae0a26a45a925a9d264105403fa91a5d64d390e9
https://github.com/paparazzi/paparazzi/commit/ae0a26a45a925a9d264105403fa91a5d64d390e9
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M conf/firmwares/rotorcraft.makefile
M conf/firmwares/subsystems/fixedwing/autopilot.makefile
M conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/tools/gen_periodic.ml
Log Message:
-----------
[tools][conf] add TELEMETRY_FREQUENCY in generated/periodic_telemetry.h
Commit: 6ea53c5c15ac95fdbf00f89f1bd70d40cb6f5cc5
https://github.com/paparazzi/paparazzi/commit/6ea53c5c15ac95fdbf00f89f1bd70d40cb6f5cc5
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M Makefile.ac
M sw/tools/gen_modules.ml
Log Message:
-----------
[tools] generated MODULES_FREQUENCY defaults to PERIODIC_FREQUENCY
Commit: 3e1b88fe3e1ebd82368ec5079fb9be03cd51993f
https://github.com/paparazzi/paparazzi/commit/3e1b88fe3e1ebd82368ec5079fb9be03cd51993f
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
M conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile
M conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
M conf/settings/nps.xml
M sw/simulator/nps/nps_autopilot_fixedwing.c
M sw/simulator/nps/nps_autopilot_rotorcraft.c
Log Message:
-----------
[nps] bat_voltage adjustable via settings
Commit: 446253ac40560a96098ad4cbd615efadf69e77b5
https://github.com/paparazzi/paparazzi/commit/446253ac40560a96098ad4cbd615efadf69e77b5
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c
Log Message:
-----------
Merge pull request #528 from paparazzi/gv_adapt_vertical_thrust
[guidance_v] pass only vertical thrust component to gv_adapt_run
refactor and improve issue #527
Commit: 281422fac6feaaa225ad164f534ad0458e77f9a8
https://github.com/paparazzi/paparazzi/commit/281422fac6feaaa225ad164f534ad0458e77f9a8
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
M sw/airborne/boards/ardrone/baro_board.c
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
M sw/airborne/firmwares/rotorcraft/telemetry.h
M sw/airborne/subsystems/imu/imu_ardrone2_raw.h
Log Message:
-----------
Merge pull request #535 from benlaurie/tidy
AR Drone2 Tidy up
fix warnings and correct some potential and actual problems
Commit: c8487dc5735875de98d630749b377761c13b2414
https://github.com/paparazzi/paparazzi/commit/c8487dc5735875de98d630749b377761c13b2414
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
A sw/simulator/nps/nps_electrical.c
A sw/simulator/nps/nps_electrical.h
Log Message:
-----------
[nps] ups, add missing nps_electrical files
Commit: 06e69bcaeab8fcfe96449dcccb1c51aea1b2a74d
https://github.com/paparazzi/paparazzi/commit/06e69bcaeab8fcfe96449dcccb1c51aea1b2a74d
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M Makefile.ac
Log Message:
-----------
TELEMETRY_FREQUENCY defaults to PERIODIC_FREQUENCY
also default to 60Hz if PERIODIC_FREQUENCY is not configured
Commit: d12572dcdc5fb9f4c0288cb1f29fbfd570fd44e4
https://github.com/paparazzi/paparazzi/commit/d12572dcdc5fb9f4c0288cb1f29fbfd570fd44e4
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M Makefile.ac
Log Message:
-----------
fix typo
Commit: c0b252ded92edc81f956a8e47f7a7c929ea011c0
https://github.com/paparazzi/paparazzi/commit/c0b252ded92edc81f956a8e47f7a7c929ea011c0
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M Makefile.ac
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
M conf/airframes/examples/quadrotor_px4fmu.xml
M conf/airframes/examples/stm32f4_discovery_test.xml
M conf/firmwares/rotorcraft.makefile
M conf/firmwares/subsystems/fixedwing/autopilot.makefile
M conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile
M conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
M conf/settings/nps.xml
M sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
M sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
M sw/airborne/boards/ardrone/baro_board.c
M sw/airborne/boards/ardrone/navdata.c
M sw/airborne/boards/ardrone/navdata.h
M sw/airborne/firmwares/fixedwing/main_ap.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c
M sw/airborne/firmwares/rotorcraft/main.c
M sw/airborne/firmwares/rotorcraft/navigation.c
M sw/airborne/firmwares/rotorcraft/telemetry.h
M sw/airborne/subsystems/imu/imu_ardrone2_raw.h
M sw/simulator/nps/nps_autopilot_fixedwing.c
M sw/simulator/nps/nps_autopilot_rotorcraft.c
A sw/simulator/nps/nps_electrical.c
A sw/simulator/nps/nps_electrical.h
M sw/tools/gen_aircraft.ml
M sw/tools/gen_modules.ml
M sw/tools/gen_periodic.ml
Log Message:
-----------
Merge branch 'master' into quat_transformations
merge to get refactored vert loop with get_vertical_thrust_coeff
Commit: 03234de546c2f94f5be2dcddf1966d160f8f8134
https://github.com/paparazzi/paparazzi/commit/03234de546c2f94f5be2dcddf1966d160f8f8134
Author: Felix Ruess <address@hidden>
Date: 2013-09-13 (Fri, 13 Sep 2013)
Changed paths:
M conf/airframes/fraser_lisa_m_rotorcraft.xml
M conf/settings/control/rotorcraft_guidance.xml
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_v.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
M sw/airborne/firmwares/rotorcraft/navigation.c
Log Message:
-----------
[rotorcraft][guidance_h] guidance_h_approx_force_by_thrust
- enable/disable via settings
- gets a better approximation of vertical thrust using guidance_v_thrust_coeff
- vertical thrust is recomputed in guidance_h to take the latest thrust command
after guidance_v was run
Compare:
https://github.com/paparazzi/paparazzi/compare/4d8d2a907d2c...03234de546c2