[paparazzi-commits] [paparazzi/paparazzi] 6a4444: Convergence rebase (#2946)

[Ewoud Smeur]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 6a44445dd24de81d82aae9837f2cc4c21939b72c
      
https://github.com/paparazzi/paparazzi/commit/6a44445dd24de81d82aae9837f2cc4c21939b72c
  Author: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
  Date:   2022-11-23 (Wed, 23 Nov 2022)

  Changed paths:
    A conf/airframes/tudelft/bebop2_indi_convergence.xml
    A conf/airframes/tudelft/disco_rotorcraft_indi.xml
    A conf/flight_plans/tudelft/delft_bebop_convergence.xml
    A conf/flight_plans/tudelft/disco_convergence.xml
    M conf/modules/actuators_disco.xml
    M conf/modules/logger_file.xml
    A conf/simulator/jsbsim/aircraft/Systems/aerodynamics_disco.xml
    A conf/simulator/jsbsim/aircraft/bebop2.xml
    A conf/simulator/jsbsim/aircraft/disco_rotorcraft.xml
    M conf/telemetry/default_rotorcraft.xml
    M conf/userconf/tudelft/conf.xml
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
    M sw/airborne/firmwares/rotorcraft/navigation.h
    M sw/tools/parrot/bebop.py

  Log Message:
  -----------
  Convergence rebase (#2946)

* Added disco_rotorcraft airframefile to be able to fly hybrid code

* Created files (airframe and flightplan) and added bebop_convergence to 
tudelft conf

* allow higher version bebop

* logging motor commands and accel bebop2

* Updated hybrid guidance indi  variables for bebop2

* improvements

* Prepared bebop2 airframe for cyberzoo test

* Flying bebop in the cyberzoo

* increase outer loop gains

* bebop2 jsbsim file

* no failsafe thrust for rotorcraft

* use ekf2 for bebop2

* Prepared flightplan for outside test

* fix static heading

* Added disco_convergence

* Updated hybrid guidance with extra variables as macro for convergence test

* extended logger with nav target

* typo with the nav_target

* fix thrust estimate

* no ctrl eff scheduling

* Flown code Valkenburg

* Tuned Disco convergence and added nps sim

* 24-06-2021 flown disco code, noise on thrust

* Updated disco flight plan to increase and decrease altitude 20 meters in 
flight

* change thrust effectiveness

* cleanup

* logger default freq, lexer, etc.

* further small improvments

* lower frequency for AHRS_REF_QUAT

* use more lexer

Co-authored-by: Dennis van Wijngaarden <wijngaarden.dennis@gmail.com>