Showing with 1,113 additions and 472 deletions.
  1. +9 −0 conf/Makefile.stm32-upload
  2. +7 −6 conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
  3. +1 −1 conf/airframes/AGGIEAIR/aggieair_conf.xml
  4. +3 −3 conf/airframes/BR/bebop_indi.xml
  5. +3 −3 conf/airframes/BR/bebop_indi_frog.xml
  6. +1 −1 conf/airframes/BR/conf.xml
  7. +3 −3 conf/airframes/BR/ladybird_kit_indi_bart.xml
  8. +3 −3 conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
  9. +1 −1 conf/airframes/ENAC/conf_enac.xml
  10. +11 −6 conf/airframes/ENAC/cyfoam.xml
  11. +3 −3 conf/airframes/ENAC/hoops_gen_ap.xml
  12. +2 −2 conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
  13. +3 −3 conf/airframes/ENAC/quadrotor/bebop2_fish.xml
  14. +3 −3 conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
  15. +3 −3 conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
  16. +3 −3 conf/airframes/ENAC/quadrotor/kakute_f7.xml
  17. +2 −2 conf/airframes/ENAC/quadrotor/robobee.xml
  18. +2 −2 conf/airframes/ENAC/quadrotor/ulysse_indi.xml
  19. +3 −3 conf/airframes/KS/ks_bebop2_stereo.xml
  20. +3 −3 conf/airframes/KS/ks_mavtec1.xml
  21. +3 −3 conf/airframes/MM/bebop2_lum1_xbee.xml
  22. +3 −3 conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
  23. +3 −3 conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
  24. +3 −3 conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
  25. +3 −3 conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
  26. +3 −3 conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
  27. +3 −3 conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
  28. +5 −5 conf/airframes/OPENUAS/openuas_parrot_bebop.xml
  29. +3 −3 conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
  30. +3 −3 conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
  31. +3 −3 conf/airframes/examples/bebop2_indi.xml
  32. +3 −3 conf/airframes/examples/bebop2_opticflow.xml
  33. +3 −3 conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml
  34. +4 −3 conf/airframes/examples/cube_orange.xml
  35. +3 −3 conf/airframes/examples/matek_h743_slim.xml
  36. +3 −3 conf/airframes/examples/matek_h7_rotorcraft_hitl.xml
  37. +3 −3 conf/airframes/examples/quadshot_asp21_FutabaPPMonUart1.xml
  38. +3 −3 conf/airframes/examples/quadshot_asp21_spektrum.xml
  39. +3 −3 conf/airframes/examples/trashcan.xml
  40. +3 −3 conf/airframes/tudelft/ardrone2_OF_hover.xml
  41. +3 −3 conf/airframes/tudelft/ardrone2_indi.xml
  42. +3 −3 conf/airframes/tudelft/ardrone2_optitrack.xml
  43. +1 −1 conf/airframes/tudelft/bebop2_indi.xml
  44. +3 −3 conf/airframes/tudelft/bebop2_indi_convergence.xml
  45. +4 −4 conf/airframes/tudelft/bebop2_no_damping.xml
  46. +2 −2 conf/airframes/tudelft/bebop2_no_damping_WLS.xml
  47. +3 −3 conf/airframes/tudelft/bebop2_optitrack.xml
  48. +3 −3 conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
  49. +3 −3 conf/airframes/tudelft/bebop2_undistort_front.xml
  50. +4 −4 conf/airframes/tudelft/bebop_OF_hover.xml
  51. +3 −3 conf/airframes/tudelft/bebop_autonomous_race_2018.xml
  52. +3 −3 conf/airframes/tudelft/bebop_course_orangeavoid.xml
  53. +3 −3 conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
  54. +3 −3 conf/airframes/tudelft/bebop_flip.xml
  55. +13 −7 conf/airframes/tudelft/bebop_indi_actuators.xml
  56. +3 −3 conf/airframes/tudelft/bebop_mavlink.xml
  57. +2 −2 conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
  58. +3 −3 conf/airframes/tudelft/bebop_opticflow.xml
  59. +11 −6 conf/airframes/tudelft/bebop_opticflow_indoor.xml
  60. +1 −1 conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
  61. +11 −6 conf/airframes/tudelft/bebop_optitrack.xml
  62. +3 −3 conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml
  63. +1 −1 conf/airframes/tudelft/cyfoam.xml
  64. +1 −1 conf/airframes/tudelft/disco_rotorcraft_indi.xml
  65. +2 −2 conf/airframes/tudelft/fan_demo.xml
  66. +3 −3 conf/airframes/tudelft/guido_ardrone2_optitrack.xml
  67. +4 −5 conf/airframes/tudelft/hybrid_nav_test.xml
  68. +3 −3 conf/airframes/tudelft/iris_indi.xml
  69. +3 −3 conf/airframes/tudelft/mavtec1.xml
  70. +3 −3 conf/airframes/tudelft/mavtec5.xml
  71. +25 −25 conf/airframes/tudelft/nederdrone4.xml
  72. +34 −21 conf/airframes/tudelft/nederdrone6.xml
  73. +36 −23 conf/airframes/tudelft/nederdrone7.xml
  74. +34 −22 conf/airframes/tudelft/nederdrone8.xml
  75. +3 −3 conf/airframes/tudelft/nederquad.xml
  76. +3 −3 conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
  77. +3 −3 conf/airframes/tudelft/robird.xml
  78. +3 −3 conf/airframes/tudelft/rot_wing_25kg.xml
  79. +3 −1 conf/airframes/tudelft/rot_wing_v3b.xml
  80. +43 −23 conf/airframes/tudelft/rot_wing_v3d.xml
  81. +2 −2 conf/airframes/tudelft/splash4.xml
  82. +3 −3 conf/airframes/tudelft/splash_px4.xml
  83. +1 −1 conf/conf_tests_coverity.xml
  84. +16 −0 conf/flash_modes.xml
  85. +4 −4 conf/modules/actuators_asctec_v2.xml
  86. +1 −1 conf/modules/actuators_bebop.xml
  87. +1 −1 conf/modules/actuators_disco.xml
  88. +10 −0 conf/modules/airspeed_uavcan.xml
  89. +1 −0 conf/modules/imu_mpu9250_i2c.xml
  90. +1 −0 conf/modules/imu_mpu9250_spi.xml
  91. +36 −0 conf/modules/pfc_actuators.xml
  92. +3 −0 conf/modules/preflight_checks.xml
  93. +1 −1 conf/modules/sensors_hitl.xml
  94. +1 −1 conf/modules/stabilization_indi.xml
  95. +3 −3 conf/modules/stabilization_indi_simple.xml
  96. +1 −1 conf/telemetry/highspeed_rotorcraft.xml
  97. +5 −5 conf/userconf/tudelft/conf.xml
  98. +1 −1 sw/airborne/arch/chibios/mcu_periph/i2c_arch.c
  99. +1 −5 sw/airborne/boards/bebop/actuators.c
  100. +6 −0 sw/airborne/boards/cube/orange/board.cfg
  101. +13 −7 sw/airborne/boards/cube/orange/board.h
  102. +6 −5 sw/airborne/boards/disco/actuators.c
  103. +4 −0 sw/airborne/boards/lisa_mx/chibios/v2.1/board.h
  104. +4 −0 sw/airborne/boards/lisa_mxs/chibios/v1.0/board.h
  105. +1 −1 sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
  106. +3 −4 sw/airborne/firmwares/rotorcraft/autopilot_utils.c
  107. +4 −4 sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
  108. +4 −4 sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
  109. +3 −1 sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
  110. +2 −2 sw/airborne/firmwares/rover/guidance/rover_guidance_steering.h
  111. +0 −3 sw/airborne/modules/actuators/actuators.c
  112. +1 −1 sw/airborne/modules/actuators/actuators.h
  113. +4 −4 sw/airborne/modules/actuators/actuators_asctec_v2.c
  114. +84 −36 sw/airborne/modules/actuators/actuators_uavcan.c
  115. +312 −0 sw/airborne/modules/checks/pfc_actuators.c
  116. +37 −0 sw/airborne/modules/checks/pfc_actuators.h
  117. +3 −2 sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
  118. +4 −3 sw/airborne/modules/ctrl/eff_scheduling_rot_wing.c
  119. +16 −0 sw/airborne/modules/energy/electrical.c
  120. +1 −0 sw/airborne/modules/energy/electrical.h
  121. +1 −1 sw/airborne/modules/imu/imu.h
  122. +5 −5 sw/airborne/modules/rot_wing_drone/rotwing_state.c
  123. +23 −5 sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
  124. +21 −7 sw/airborne/modules/sensors/airspeed_uavcan.c
  125. +13 −0 sw/airborne/modules/sensors/airspeed_uavcan.h
  126. +1 −1 sw/ext/pprzlink
  127. +1 −1 sw/simulator/nps/nps_autopilot.h
  128. +2 −2 sw/simulator/nps/nps_autopilot_rotorcraft.c
  129. +15 −8 sw/tools/generators/gen_airframe.ml
9 changes: 9 additions & 0 deletions conf/Makefile.stm32-upload
View file
Expand Up @@ -84,6 +84,15 @@ ifeq ($(VERIFY),1)
$(Q)rm -f $(OBJDIR)/verify.bla
endif

#
# DFU flash with STM32CubeProgrammer
else ifeq ($(FLASH_MODE),DFU_CUBE)

CUBE_PROGRAMMER = /usr/local/STMicroelectronics/STM32Cube/STM32CubeProgrammer/bin/STM32_Programmer_CLI

upload: $(OBJDIR)/$(TARGET).elf
$(CUBE_PROGRAMMER) -c port=usb1 -d $^

#
# serial flash mode
else ifeq ($(FLASH_MODE),SERIAL)
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13 changes: 7 additions & 6 deletions conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
View file
Expand Up @@ -91,13 +91,14 @@ Aggie Air ARK
</section>

<command_laws>
<!-- Use SERVO_FRONT_IDX to know the actuators array number, and user SERVO_FRONT_DRIVER_NO to use the xx-value defined in servo no="xx" -->
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT_IDX]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT_IDX]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT_IDX]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK_IDX]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[SERVO_BACK_LEFT_IDX]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[SERVO_FRONT_LEFT_IDX]"/>
</command_laws>

<section name="IMU" prefix="IMU_">
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2 changes: 1 addition & 1 deletion conf/airframes/AGGIEAIR/aggieair_conf.xml
View file
Expand Up @@ -7,7 +7,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
settings_modules="modules/battery_monitor.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_float_euler.xml"
gui_color="#ffff954c0000"
/>
<aircraft
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6 changes: 3 additions & 3 deletions conf/airframes/BR/bebop_indi.xml
View file
Expand Up @@ -171,9 +171,9 @@
<define name="FILT_CUTOFF" value="8.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/BR/bebop_indi_frog.xml
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Expand Up @@ -174,9 +174,9 @@
<define name="FILT_CUTOFF" value="8.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<define name="ACT_FREQ_P" value="53.9"/>
<define name="ACT_FREQ_Q" value="53.9"/>
<define name="ACT_FREQ_R" value="53.9"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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2 changes: 1 addition & 1 deletion conf/airframes/BR/conf.xml
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Expand Up @@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
gui_color="white"
/>
<aircraft
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6 changes: 3 additions & 3 deletions conf/airframes/BR/ladybird_kit_indi_bart.xml
View file
Expand Up @@ -142,9 +142,9 @@
<define name="FILT_CUTOFF" value="8.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
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Expand Up @@ -235,9 +235,9 @@
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_RDOT" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
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2 changes: 1 addition & 1 deletion conf/airframes/ENAC/conf_enac.xml
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Expand Up @@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ENAC/crazyflie_multi_ranger_test.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
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17 changes: 11 additions & 6 deletions conf/airframes/ENAC/cyfoam.xml
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Expand Up @@ -156,18 +156,23 @@
<!--<servo name="SERVO_TEST" no="4" min="1000" neutral="1500" max="2000"/>-->
</servos>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="ELEVON_LEFT" failsafe_value="0"/>
<axis name="ELEVON_RIGHT" failsafe_value="0"/>
<axis name="MOTOR_RIGHT" failsafe_value="0"/>
<axis name="MOTOR_LEFT" failsafe_value="0"/>

<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>

<command_laws>
<set servo="ELEVON_LEFT" value="autopilot.motors_on ? actuators_pprz[0] : 0"/>
<set servo="ELEVON_RIGHT" value="autopilot.motors_on ? actuators_pprz[1] : 0"/>
<set servo="RM" value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="LM" value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="ELEVON_LEFT" value="autopilot.motors_on ? @ELEVON_LEFT : 0"/>
<set servo="ELEVON_RIGHT" value="autopilot.motors_on ? @ELEVON_RIGHT : 0"/>
<set servo="RM" value="autopilot.motors_on ? @MOTOR_RIGHT : -MAX_PPRZ"/>
<set servo="LM" value="autopilot.motors_on ? @MOTOR_LEFT : -MAX_PPRZ"/>
<!--<set servo="RM" value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
<!--<set servo="LM" value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
</command_laws>
Expand Down Expand Up @@ -234,7 +239,7 @@
<define name="FILT_CUTOFF" value="5.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.1, 0.1, 0.045, 0.045}"/>
<define name="ACT_FREQ" value="{52.7, 52.7, 23.0, 23.0}"/>
<define name="ACT_RATE_LIMIT" value="{170, 170, 9600, 9600}"/>
<define name="ACT_IS_SERVO" value="{1, 1, 0, 0}"/>

Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/ENAC/hoops_gen_ap.xml
View file
Expand Up @@ -218,9 +218,9 @@
<define name="REF_RATE_R" value="28.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
Expand Down
4 changes: 2 additions & 2 deletions conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
View file
Expand Up @@ -52,7 +52,7 @@
</module>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>

Expand Down Expand Up @@ -189,7 +189,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
<define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>

<!--Priority for each axis (roll, pitch, yaw and thrust)-->
Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/ENAC/quadrotor/bebop2_fish.xml
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Expand Up @@ -168,9 +168,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
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Expand Up @@ -170,9 +170,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
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Expand Up @@ -216,9 +216,9 @@
<define name="FILT_CUTOFF_RDOT" value="8.0f"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03149f"/>
<define name="ACT_DYN_Q" value="0.03149f"/>
<define name="ACT_DYN_R" value="0.03149f"/>
<define name="ACT_FREQ_P" value="16.4"/>
<define name="ACT_FREQ_Q" value="16.4"/>
<define name="ACT_FREQ_R" value="16.4"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
Expand Down
6 changes: 3 additions & 3 deletions conf/airframes/ENAC/quadrotor/kakute_f7.xml
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Expand Up @@ -212,9 +212,9 @@
<define name="FILT_CUTOFF_R" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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4 changes: 2 additions & 2 deletions conf/airframes/ENAC/quadrotor/robobee.xml
View file
Expand Up @@ -51,7 +51,7 @@
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="15.6"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>

Expand Down Expand Up @@ -202,7 +202,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{100, -100, 100, -100.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.02, 0.02, 0.02, 0.02}"/>
<define name="ACT_FREQ" value="{10.3, 10.3, 10.3, 10.3}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>

<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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4 changes: 2 additions & 2 deletions conf/airframes/ENAC/quadrotor/ulysse_indi.xml
View file
Expand Up @@ -54,7 +54,7 @@
</module>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>

Expand Down Expand Up @@ -183,7 +183,7 @@
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{150.0, -150.0, 150.0, -150.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.03, 0.03, 0.03, 0.03}"/>
<define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>

<!--Priority for each axis (roll, pitch, yaw and thrust)-->
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6 changes: 3 additions & 3 deletions conf/airframes/KS/ks_bebop2_stereo.xml
View file
Expand Up @@ -160,9 +160,9 @@
<define name="FILT_CUTOFF" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/KS/ks_mavtec1.xml
View file
Expand Up @@ -183,9 +183,9 @@
<define name="FILT_CUTOFF_RDOT" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
<define name="ACT_FREQ_P" value="15.6"/>
<define name="ACT_FREQ_Q" value="15.6"/>
<define name="ACT_FREQ_R" value="15.6"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/MM/bebop2_lum1_xbee.xml
View file
Expand Up @@ -185,9 +185,9 @@
<define name="FILT_CUTOFF" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
View file
Expand Up @@ -505,9 +505,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04"/>
<define name="ACT_DYN_Q" value="0.04"/>
<define name="ACT_DYN_R" value="0.04"/>
<define name="ACT_FREQ_P" value="20.9"/>
<define name="ACT_FREQ_Q" value="20.9"/>
<define name="ACT_FREQ_R" value="20.9"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_bitcraze_crazyflie_2_1.xml
View file
Expand Up @@ -273,9 +273,9 @@
<define name="FILT_CUTOFF" value="8.0f"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03149f"/>
<define name="ACT_DYN_Q" value="0.03149f"/>
<define name="ACT_DYN_R" value="0.03149f"/>
<define name="ACT_FREQ_P" value="16.4"/>/>
<define name="ACT_FREQ_Q" value="16.4"/>/>
<define name="ACT_FREQ_R" value="16.4"/>/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
View file
Expand Up @@ -392,9 +392,9 @@
<define name="FILT_CUTOFF" value="5.0"/>

<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml
View file
Expand Up @@ -342,9 +342,9 @@
<define name="FILT_CUTOFF" value="5.0"/>

<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
View file
Expand Up @@ -388,9 +388,9 @@
<define name="FILT_CUTOFF" value="5.0"/>

<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
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6 changes: 3 additions & 3 deletions conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
View file
Expand Up @@ -436,9 +436,9 @@ The most crucial part for the magnetometer calibration:
<define name="FILT_CUTOFF" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<define name="ACT_FREQ_P" value="31.7"/>
<define name="ACT_FREQ_Q" value="31.7"/>
<define name="ACT_FREQ_R" value="31.7"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/> <!-- make true if all works -->
Expand Down