[paparazzi-commits] [paparazzi/paparazzi] 28ef30: Nav rotorcraft rework (#2964)

[Gautier Hattenberger]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 28ef30ed803410733a866c2d9f3cbcfacd1ede83
      
https://github.com/paparazzi/paparazzi/commit/28ef30ed803410733a866c2d9f3cbcfacd1ede83
  Author: Gautier Hattenberger <gautier.hattenberger@enac.fr>
  Date:   2023-03-02 (Thu, 02 Mar 2023)

  Changed paths:
    M conf/airframes/BR/conf.xml
    M conf/airframes/ENAC/cyfoam.xml
    M conf/airframes/examples/cube_orange.xml
    M conf/airframes/tudelft/bebop2_indi_convergence.xml
    M conf/airframes/tudelft/cyfoam.xml
    M conf/airframes/tudelft/disco_rotorcraft_indi.xml
    M conf/airframes/tudelft/nederdrone4.xml
    M conf/airframes/tudelft/nederdrone4_tem.xml
    M conf/airframes/tudelft/nederdrone5.xml
    M conf/airframes/tudelft/nederdrone6.xml
    M conf/airframes/tudelft/nederdrone7.xml
    M conf/airframes/tudelft/nederdrone8.xml
    M conf/conf_example.xml
    M conf/flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml
    M conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml
    M conf/flight_plans/ENAC/demo_aruco_drop_indoor.xml
    M conf/flight_plans/ENAC/fish_outdoor.xml
    M conf/flight_plans/ENAC/fish_voliere.xml
    M conf/flight_plans/HOOPERFLY/hooperfly_gsa_one.xml
    M conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
    M conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_nocturnal.xml
    M conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml
    M conf/flight_plans/competitions/IMAV2019_drop.xml
    M conf/flight_plans/competitions/IMAV2022_drop.xml
    M conf/flight_plans/competitions/IMAV2022_falcon.xml
    M conf/flight_plans/competitions/IMAV2022_search.xml
    M conf/flight_plans/rotorcraft_basic.xml
    M conf/flight_plans/rotorcraft_basic_geofence.xml
    M conf/flight_plans/rotorcraft_basic_superbitrf.xml
    M conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
    M conf/flight_plans/rotorcraft_cam.xml
    M conf/flight_plans/rotorcraft_guido_optitrack.xml
    M conf/flight_plans/rotorcraft_joystick_enac.xml
    M conf/flight_plans/rotorcraft_optitrack.xml
    M conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml
    M conf/flight_plans/rotorcraft_survey.xml
    M conf/flight_plans/rotorcraft_vision.xml
    M conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml
    M conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml
    M conf/flight_plans/tudelft/cyclone_valkenburg.xml
    M conf/flight_plans/tudelft/delfly_nimble_cyberzoo.xml
    M conf/flight_plans/tudelft/delft_basic.xml
    M conf/flight_plans/tudelft/delft_bebop.xml
    M conf/flight_plans/tudelft/delft_bebop_convergence.xml
    M conf/flight_plans/tudelft/disco_convergence.xml
    M conf/flight_plans/tudelft/fan_demo.xml
    M conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
    M conf/flight_plans/tudelft/nederdrone_valkenburg.xml
    M conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml
    M conf/flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml
    M conf/flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml
    M conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml
    M conf/flight_plans/tudelft/train_safe_zoo.xml
    M conf/modules/guidance_hybrid.xml
    M conf/modules/guidance_indi.xml
    M conf/modules/guidance_indi_hybrid.xml
    A conf/modules/guidance_pid_rotorcraft.xml
    M conf/modules/guidance_rotorcraft.xml
    M conf/modules/nav_basic_rotorcraft.xml
    A conf/modules/nav_hybrid.xml
    A conf/modules/nav_rotorcraft.xml
    M conf/settings/control/rotorcraft_guidance.xml
    M conf/userconf/OPENUAS/openuas_all_ac.xml
    M conf/userconf/tudelft/conf.xml
    M sw/airborne/firmwares/fixedwing/nav.c
    M sw/airborne/firmwares/fixedwing/nav.h
    M sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
    M sw/airborne/firmwares/rotorcraft/autopilot_guided.h
    M sw/airborne/firmwares/rotorcraft/autopilot_static.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_hybrid.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.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
    A sw/airborne/firmwares/rotorcraft/guidance/guidance_pid.c
    A 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/navigation.c
    M sw/airborne/firmwares/rotorcraft/navigation.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_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_transformations.c
    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
    M sw/airborne/firmwares/rover/navigation.c
    M sw/airborne/firmwares/rover/navigation.h
    M sw/airborne/math/pprz_algebra_float.c
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/modules/ctrl/approach_moving_target.c
    M sw/airborne/modules/ctrl/optical_flow_landing.c
    M sw/airborne/modules/gps/gps_sim_hitl.c
    M sw/airborne/modules/guidance/gvf/gvf_low_level_control.h
    M sw/airborne/modules/guidance/gvf_parametric/gvf_parametric.cpp
    M sw/airborne/modules/ins/ins_ekf2.cpp
    M sw/airborne/modules/mission/mission_common.c
    M sw/airborne/modules/mission/mission_common.h
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c
    M sw/airborne/modules/nav/common_flight_plan.c
    M sw/airborne/modules/nav/common_flight_plan.h
    A sw/airborne/modules/nav/nav_base.h
    M sw/airborne/modules/nav/nav_heli_spinup.c
    A sw/airborne/modules/nav/nav_rotorcraft_base.c
    A sw/airborne/modules/nav/nav_rotorcraft_base.h
    A sw/airborne/modules/nav/nav_rotorcraft_hybrid.c
    A sw/airborne/modules/nav/nav_rotorcraft_hybrid.h
    M sw/airborne/modules/nav/nav_rover_base.c
    M sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c
    M sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c
    M sw/airborne/modules/nav/waypoints.c
    M sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c
    M sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h
    M sw/include/std.h

  Log Message:
  -----------
  Nav rotorcraft rework (#2964)

This is a complete rework of the navigation for rotorcraft with the key 
features:

- all nav functions and interface in float
- nav function are registered (decoupling between nav API and implementation of 
standard pattern)
- submodes to specify if setpoint is a position (legacy), speed or accel 
(better integration of algorithms like GVF)
- guidance (H and V) is reorganized with default function to implement 
(run_pos, run_speed, run_accel) 
- guidance control (the old default PID) is separated from the guidance logic

---------

Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>