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[paparazzi-commits] [paparazzi/paparazzi] 6dcabb: update INDI tu use ful
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[paparazzi-commits] [paparazzi/paparazzi] 6dcabb: update INDI tu use full control effecitvens matrix... |
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Date: |
Mon, 05 Dec 2016 09:43:51 -0800 |
Branch: refs/heads/coverity_scan
Home: https://github.com/paparazzi/paparazzi
Commit: 6dcabb3a572f2a4ffd9aff7cbf3e0f9a04e9c7a6
https://github.com/paparazzi/paparazzi/commit/6dcabb3a572f2a4ffd9aff7cbf3e0f9a04e9c7a6
Author: Ewoud Smeur <address@hidden>
Date: 2016-12-01 (Thu, 01 Dec 2016)
Changed paths:
M conf/abi.xml
M conf/airframes/BR/bebop_indi.xml
M conf/airframes/BR/bebop_indi_frog.xml
M conf/airframes/BR/bebop_indi_frog_flip.xml
M conf/airframes/BR/ladybird_kit_indi_bart.xml
M conf/airframes/CDW/cdw_bebop.xml
M conf/airframes/KS/ks_mavtec1.xml
M conf/airframes/OPENUAS/openuas_ardrone2.xml
M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
M conf/airframes/OPENUAS/openuas_psi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi_MAVlink.xml
M conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml
M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
A conf/airframes/TUDELFT/tudelft_bebop_indi_actuators.xml
M conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
M conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml
M conf/airframes/TUDELFT/tudelft_bebop_optitrack.xml
M conf/airframes/TUDELFT/tudelft_conf.xml
M conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml
M conf/airframes/TUDELFT/tudelft_course2016_bebop_colorfilter.xml
M conf/airframes/TUDELFT/tudelft_guido_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_iris_indi.xml
M conf/airframes/TUDELFT/tudelft_mavshot.xml
M conf/airframes/TUDELFT/tudelft_mavtec1.xml
M conf/airframes/TUDELFT/tudelft_mavtec5.xml
M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
M conf/airframes/TUDELFT/tudelft_selfie.xml
M conf/airframes/examples/ardrone2_px4flow_hover.xml
M conf/airframes/examples/bebop2_indi.xml
M conf/airframes/examples/quadrotor_navstik.xml
M conf/airframes/examples/quadshot_178_pylons.xml
M conf/airframes/examples/quadshot_asp21_spektrum.xml
M conf/airframes/untested/ardrone2_indi.xml
M conf/airframes/untested/ardrone2_optitrack.xml
M conf/airframes/untested/bebop_indi.xml
A conf/firmwares/subsystems/rotorcraft/stabilization_indi_simple.makefile
M conf/firmwares/subsystems/rotorcraft/stabilization_rate_indi.makefile
M conf/settings/control/stabilization_indi.xml
M conf/telemetry/default_rotorcraft.xml
M sw/airborne/boards/bebop/actuators.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.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_indi.c
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
M sw/airborne/math/pprz_algebra.h
M sw/airborne/math/pprz_algebra_float.c
M sw/airborne/math/pprz_algebra_float.h
M sw/airborne/modules/ins/ins_skeleton.c
M sw/airborne/modules/sensors/rpm_sensor.c
M sw/airborne/modules/sonar/sonar_bebop.c
M sw/airborne/state.h
M sw/airborne/subsystems/abi_sender_ids.h
M sw/airborne/subsystems/actuators.c
M sw/airborne/subsystems/actuators.h
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_int.c
M sw/ext/pprzlink
M sw/tools/generators/gen_airframe.ml
Log Message:
-----------
update INDI tu use full control effecitvens matrix (#1916)
* update INDI tu use full control effecitvens matrix
Instead of using commands (roll, pitch, yaw, thrust), give the
controller direct control over all actuators.
This allows for online individual actuator control effectiveness
estimation and inversion, as well as better saturation handling.
The INDI controller as it was previous is renamed to 'simple'.
* Made INDI more flexible wrt number of actuators
- 4x4 matrix inverse to accomodate the thrust axis as well
- support for more actuators
- cleanup of code
* Change filters guidance indi to butterworth
* Added body acceleration to state interface
* Better adaptation and guidance thrust increment
- Adaptation flexible wrt. number of actuators.
- Added adaptation of the specific force effectiveness of the actuators.
- Added connection to guidance INDI through ABI. The thrust increment is
caclulated in guidance INDI and sent to the stabilization.
* lower case variables
* change filter of indi to butterworth
* INDI fix array index & no declarations in for loop
- Also added doxygen comments
* Added actuators_pprz
the array actuators is used to drive the servos, so a new array to store
the command to the actuators in pprz scale is needed
* Removed hardcoded scaling
Commit: 81089967aaa5f0ab2b9b3b9d0507561b11a0bd5e
https://github.com/paparazzi/paparazzi/commit/81089967aaa5f0ab2b9b3b9d0507561b11a0bd5e
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-01 (Thu, 01 Dec 2016)
Changed paths:
M conf/airframes/AGGIEAIR/aggieair_conf.xml
M conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
M conf/modules/lidar_lite.xml
Log Message:
-----------
[AggieAirConf] Minor updates
Commit: 37636027689d0032bab29c346527fae797ce9855
https://github.com/paparazzi/paparazzi/commit/37636027689d0032bab29c346527fae797ce9855
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-01 (Thu, 01 Dec 2016)
Changed paths:
M conf/modules/lidar_lite.xml
M sw/airborne/modules/lidar/lidar_lite.c
M sw/airborne/modules/lidar/lidar_lite.h
Log Message:
-----------
[Lidar] Update lidar lite driver, now works with new lidars
Commit: 8e7a4abf8ce3dedc0bc9dd357f7b48cd157d6649
https://github.com/paparazzi/paparazzi/commit/8e7a4abf8ce3dedc0bc9dd357f7b48cd157d6649
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-01 (Thu, 01 Dec 2016)
Changed paths:
M sw/airborne/modules/lidar/lidar_lite.c
Log Message:
-----------
[LidarLite] Fix indentation
Commit: 03e7f721f52d5809185fb3dd71d133bc44ba5f8c
https://github.com/paparazzi/paparazzi/commit/03e7f721f52d5809185fb3dd71d133bc44ba5f8c
Author: Ewoud Smeur <address@hidden>
Date: 2016-12-02 (Fri, 02 Dec 2016)
Changed paths:
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
Log Message:
-----------
using actuators_pprz in the command laws
Commit: 4d25a55a2d4ec0f480cc22c6567803f93a3e6e5f
https://github.com/paparazzi/paparazzi/commit/4d25a55a2d4ec0f480cc22c6567803f93a3e6e5f
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-02 (Fri, 02 Dec 2016)
Changed paths:
M conf/airframes/AGGIEAIR/aggieair_conf.xml
M conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
Log Message:
-----------
[AggieAir] Updated config
Commit: 8bbece8000acc9981b53289ff5c230be2c16f71e
https://github.com/paparazzi/paparazzi/commit/8bbece8000acc9981b53289ff5c230be2c16f71e
Author: Ewoud Smeur <address@hidden>
Date: 2016-12-05 (Mon, 05 Dec 2016)
Changed paths:
M conf/firmwares/subsystems/rotorcraft/stabilization_indi.makefile
M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
M sw/airborne/modules/sensors/rpm_sensor.c
Log Message:
-----------
Solving build errors and warnings (#1958)
Commit: 4368cbc6d89af7dd2483ec17e821cbdee5f89c69
https://github.com/paparazzi/paparazzi/commit/4368cbc6d89af7dd2483ec17e821cbdee5f89c69
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-05 (Mon, 05 Dec 2016)
Changed paths:
M sw/airborne/arch/linux/udp_socket.c
M sw/airborne/modules/display/max7456.c
M sw/airborne/subsystems/ins/ins_vectornav.c
Log Message:
-----------
Coverity fixes (#1959)
Commit: 59b6d459d49dbd8fa050119a58f610315835100e
https://github.com/paparazzi/paparazzi/commit/59b6d459d49dbd8fa050119a58f610315835100e
Author: Michal Podhradsky <address@hidden>
Date: 2016-12-05 (Mon, 05 Dec 2016)
Changed paths:
M conf/abi.xml
M conf/airframes/AGGIEAIR/aggieair_conf.xml
M conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
M conf/airframes/BR/bebop_indi.xml
M conf/airframes/BR/bebop_indi_frog.xml
M conf/airframes/BR/bebop_indi_frog_flip.xml
M conf/airframes/BR/ladybird_kit_indi_bart.xml
M conf/airframes/CDW/cdw_bebop.xml
M conf/airframes/KS/ks_mavtec1.xml
M conf/airframes/OPENUAS/openuas_ardrone2.xml
M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
M conf/airframes/OPENUAS/openuas_psi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi_MAVlink.xml
M conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml
M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
A conf/airframes/TUDELFT/tudelft_bebop_indi_actuators.xml
M conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
M conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml
M conf/airframes/TUDELFT/tudelft_bebop_optitrack.xml
M conf/airframes/TUDELFT/tudelft_conf.xml
M conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml
M conf/airframes/TUDELFT/tudelft_course2016_bebop_colorfilter.xml
M conf/airframes/TUDELFT/tudelft_guido_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_iris_indi.xml
M conf/airframes/TUDELFT/tudelft_mavshot.xml
M conf/airframes/TUDELFT/tudelft_mavtec1.xml
M conf/airframes/TUDELFT/tudelft_mavtec5.xml
M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
M conf/airframes/TUDELFT/tudelft_selfie.xml
M conf/airframes/examples/ardrone2_px4flow_hover.xml
M conf/airframes/examples/bebop2_indi.xml
M conf/airframes/examples/quadrotor_navstik.xml
M conf/airframes/examples/quadshot_178_pylons.xml
M conf/airframes/examples/quadshot_asp21_spektrum.xml
M conf/airframes/untested/ardrone2_indi.xml
M conf/airframes/untested/ardrone2_optitrack.xml
M conf/airframes/untested/bebop_indi.xml
M conf/firmwares/subsystems/rotorcraft/stabilization_indi.makefile
A conf/firmwares/subsystems/rotorcraft/stabilization_indi_simple.makefile
M conf/firmwares/subsystems/rotorcraft/stabilization_rate_indi.makefile
M conf/modules/lidar_lite.xml
M conf/settings/control/stabilization_indi.xml
M conf/telemetry/default_rotorcraft.xml
M sw/airborne/arch/linux/udp_socket.c
M sw/airborne/boards/bebop/actuators.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.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_indi.c
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
M sw/airborne/math/pprz_algebra.h
M sw/airborne/math/pprz_algebra_float.c
M sw/airborne/math/pprz_algebra_float.h
M sw/airborne/modules/display/max7456.c
M sw/airborne/modules/ins/ins_skeleton.c
M sw/airborne/modules/lidar/lidar_lite.c
M sw/airborne/modules/lidar/lidar_lite.h
M sw/airborne/modules/sensors/rpm_sensor.c
M sw/airborne/modules/sonar/sonar_bebop.c
M sw/airborne/state.h
M sw/airborne/subsystems/abi_sender_ids.h
M sw/airborne/subsystems/actuators.c
M sw/airborne/subsystems/actuators.h
M sw/airborne/subsystems/ins/ins_float_invariant.c
M sw/airborne/subsystems/ins/ins_int.c
M sw/airborne/subsystems/ins/ins_vectornav.c
M sw/ext/pprzlink
M sw/tools/generators/gen_airframe.ml
Log Message:
-----------
Merge branch 'master' into coverity_scan
Compare:
https://github.com/paparazzi/paparazzi/compare/7d11be689839...59b6d459d49d