Quadshot (#2301)

* first master quadshot build with ppm on uart1 not flow * first autonomus forward flight * first autonomus force forward flight pilonracing * flight with force forwrd
paparazzi · Jul 25, 2018 · 6c7334f · 6c7334f
1 parent 6374655
commit 6c7334f
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Showing 5 changed files with 12 additions and 13 deletions.
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
@@ -115,10 +115,10 @@
    airframe="airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/delft_basic.xml"
+   flight_plan="flight_plans/quadshot_delft.xml"
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
-   release="499b9d117c56ad553cbd28597081ff5cc3ba7583"
+   release="6b54e33a7f9b16446622ea8213bbdc0283ad829a"
   />
 </conf>
diff --git a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
@@ -280,7 +280,7 @@
   </section>
 
   <section name="NAV">
-    <define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
+    <define name="ARRIVED_AT_WAYPOINT" value="10" unit="m"/>
   </section>
 
   <section name="MISC">

diff --git a/conf/flight_plans/quadshot_delft.xml b/conf/flight_plans/quadshot_delft.xml
@@ -1,23 +1,21 @@
 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
-<!-- Valkenburg -->
-<!-- <flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2"> -->
-<!-- Delft -->
-<flight_plan alt="40" ground_alt="0" lat0="51.979438" lon0="4.390148" max_dist_from_home="1000" name="Transitioning test" security_height="2">
+<flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2">
   <header>
     #include "autopilot.h"
     #include "subsystems/radio_control.h"
     #include "subsystems/electrical.h"
     #include "subsystems/actuators.h"
     #include "firmwares/rotorcraft/guidance/guidance_h.h"
+    #include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0.0" y="0.0"/>
-    <waypoint name="STDBY" x="-2.0" y="-5.0"/>
-    <waypoint name="p1" x="53.9" y="9.6"/>
-    <waypoint name="p2" x="-64.4" y="31.4"/>
-    <waypoint name="p3" x="-50.7" y="66.2"/>
-    <waypoint name="p4" x="60.0" y="41.3"/>
+    <waypoint name="STDBY" x="11.2" y="15.5"/>
+    <waypoint name="p1" x="98.2" y="-123.9"/>
+    <waypoint name="p2" x="18.8" y="104.2"/>
+    <waypoint name="p3" x="103.2" y="145.7"/>
+    <waypoint name="p4" x="216.8" y="-82.9"/>
   </waypoints>
   <blocks>
     <block name="Wait GPS">

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.c
@@ -69,7 +69,7 @@ static int32_t omega_disp;
 static int32_t high_res_psi;
 static int32_t airspeed_sp_heading_disp;
 static bool guidance_hovering;
-static bool force_forward_flight;
+bool force_forward_flight;
 static int32_t v_control_pitch;
 
 #if PERIODIC_TELEMETRY

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_hybrid.h
@@ -76,5 +76,6 @@ extern void guidance_hybrid_reset_heading(struct Int32Eulers *sp_cmd);
  */
 extern void guidance_hybrid_vertical(void);
 
+extern bool force_forward_flight;
 
 #endif /* GUIDANCE_HYBRID_H */