Showing with 2,826 additions and 197 deletions.
  1. +1 −0 conf/airframes/examples/cube_orange.xml
  2. +2 −0 conf/airframes/tudelft/bebop_indi.xml
  3. +246 −0 conf/airframes/tudelft/hybrid_nav_test.xml
  4. +1 −0 conf/airframes/tudelft/nederdrone4.xml
  5. +79 −25 conf/airframes/tudelft/rot_wing_25kg.xml
  6. +516 −0 conf/airframes/tudelft/rot_wing_v3b.xml
  7. +47 −0 conf/joystick/radiomaster_tx12.xml
  8. +3 −1 conf/modules/electrical.xml
  9. +1 −0 conf/modules/logger_sd_chibios.xml
  10. +4 −3 conf/modules/nav_hybrid.xml
  11. +33 −0 conf/modules/preflight_checks.xml
  12. +31 −0 conf/modules/rot_wing_automation.xml
  13. +24 −0 conf/modules/rotwing_state.xml
  14. +25 −0 conf/modules/wing_rotation_controller_servo.xml
  15. +2 −0 conf/simulator/jsbsim/aircraft/rotwing25.xml
  16. +10 −2 conf/telemetry/highspeed_rotorcraft.xml
  17. +24 −2 conf/userconf/tudelft/conf.xml
  18. +45 −3 sw/airborne/autopilot.c
  19. +18 −1 sw/airborne/autopilot.h
  20. +1 −1 sw/airborne/boards/ardrone/actuators.c
  21. +1 −1 sw/airborne/boards/bebop/actuators.c
  22. +0 −3 sw/airborne/firmwares/rotorcraft/autopilot_arming_common.h
  23. +8 −6 sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
  24. +11 −7 sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
  25. +15 −10 sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
  26. +3 −8 sw/airborne/firmwares/rotorcraft/autopilot_generated.c
  27. +3 −14 sw/airborne/firmwares/rotorcraft/autopilot_static.c
  28. +0 −14 sw/airborne/firmwares/rotorcraft/autopilot_utils.c
  29. +0 −1 sw/airborne/firmwares/rotorcraft/autopilot_utils.h
  30. +2 −2 sw/airborne/firmwares/rotorcraft/navigation.h
  31. +1 −1 sw/airborne/firmwares/rover/autopilot_generated.c
  32. +0 −15 sw/airborne/firmwares/rover/autopilot_utils.c
  33. +0 −1 sw/airborne/firmwares/rover/autopilot_utils.h
  34. +2 −2 sw/airborne/firmwares/rover/navigation.h
  35. +220 −0 sw/airborne/modules/checks/preflight_checks.c
  36. +55 −0 sw/airborne/modules/checks/preflight_checks.h
  37. +44 −20 sw/airborne/modules/energy/electrical.c
  38. +19 −0 sw/airborne/modules/gps/gps.c
  39. +12 −16 sw/airborne/modules/imu/imu.c
  40. +2 −2 sw/airborne/modules/imu/imu.h
  41. +22 −0 sw/airborne/modules/loggers/sdlog_chibios.c
  42. +1 −1 sw/airborne/modules/meteo/ekf_aw_wrapper.c
  43. +49 −28 sw/airborne/modules/nav/nav_rotorcraft_hybrid.c
  44. +10 −1 sw/airborne/modules/nav/nav_rotorcraft_hybrid.h
  45. +198 −0 sw/airborne/modules/rot_wing_drone/rot_wing_automation.c
  46. +55 −0 sw/airborne/modules/rot_wing_drone/rot_wing_automation.h
  47. +637 −0 sw/airborne/modules/rot_wing_drone/rotwing_state.c
  48. +84 −0 sw/airborne/modules/rot_wing_drone/rotwing_state.h
  49. +140 −0 sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.c
  50. +53 −0 sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.h
  51. +21 −0 sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
  52. +1 −0 sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h
  53. +20 −1 sw/airborne/modules/sonar/agl_dist.c
  54. +19 −0 sw/airborne/state.c
  55. +5 −5 sw/ground_segment/python/rot_wing_visualizer/rot_wing_vis_o3d_app.py
1 change: 1 addition & 0 deletions conf/airframes/examples/cube_orange.xml
View file
Expand Up @@ -73,6 +73,7 @@
<define name="RADIO_KILL_SWITCH" value="0"/>
</target>

<module name="preflight_checks"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
<configure name="MODEM_PORT" value="usb_serial"/>
Expand Down
2 changes: 2 additions & 0 deletions conf/airframes/tudelft/bebop_indi.xml
View file
Expand Up @@ -41,6 +41,8 @@
<module name="logger_file">
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
</module>

<module name="preflight_checks"/>
</firmware>


Expand Down
246 changes: 246 additions & 0 deletions conf/airframes/tudelft/hybrid_nav_test.xml
View file
@@ -0,0 +1,246 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="hybrid_nav_test">
<description>
Test for using the hybrid_nav module without dependecies from the guidance_indi module.
</description>


<firmware name="rotorcraft">

<target name="ap" board="px4fmu_5.0_chibios">
<configure name="FLASH_MODE" value="SWD"/>
<configure name="PERIODIC_FREQUENCY" value="500"/>

<module name="imu" type="mpu6000"/>

<module name="mag" type="rm3100">
<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/>
<define name="RM3100_CHAN_X_SIGN" value="+"/>
<define name="RM3100_CHAN_Y_SIGN" value="-"/>
<define name="RM3100_CHAN_Z_SIGN" value="-"/>
<define name="RM3100_CHAN_X" value="0"/>
<define name="RM3100_CHAN_Y" value="1"/>
<define name="RM3100_CHAN_Z" value="2"/>
<define name="MODULE_RM3100_SYNC_SEND" value="FALSE"/>
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
</module>

<module name="actuators" type="pwm">
</module>

<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>

<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B460800"/>
</module>

<!-- Enable for onboard logging -->
<module name="tlsf"/>
<module name="pprzlog"/>
<module name="logger" type="sd_chibios"/>
<module name="flight_recorder"/>

</target>

<define name="USE_AIRSPEED" value="TRUE"/>

<!-- <module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/>
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/>
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
<define name="GUIDANCE_INDI_LIFTD_P50" value="6.0"/>
<define name="GUIDANCE_INDI_LIFTD_P80" value="10.0"/>
<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.15"/>
<define name="TRANSITION_MAX_OFFSET" value="10"/>
</module> -->

<module name="nav_hybrid">
<configure name="NAV_HYBRID_POS_GAIN" value="1"/>
</module>

<module name="stabilization" type="indi_simple"/>

<module name="ins" type="ekf2">
</module>

<module name="geo_mag"/>
<module name="air_data"/>

</firmware>

<servos>
</servos>

<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="RADIO_TH_HOLD" failsafe_value="-9600"/>
</commands>

<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="ROLL" value="@YAW"/>
<set command="PITCH" value="@PITCH/2"/>
<set command="YAW" value="-@ROLL/4"/>
</rc_commands>


<command_laws>
</command_laws>

<section name="IMU" prefix="IMU_">


<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-9,-6,-4}, .scale={{38883,41480,36505},{3968,4241,3726}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-33,-9,11}, .scale={{36893,53565,3365},{7544,10964,689}}}}"/>

<!-- Calibrated at Valkenburg the 20-07-2023 -->
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={9,-131,25}, .scale={{20269,20901,3230},{35294,37646,5847}}}}"/>

</section>

<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="40." unit="deg"/>
<define name="SP_MAX_THETA" value="40." unit="deg"/>
<define name="SP_MAX_R" value="150." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">

<!-- control effectiveness (hover) [conventional + yaw tilting] -->
<define name="G1_P" value="0.004"/>
<define name="G1_Q" value="0.01"/>
<define name="G1_R" value="0.001"/>
<define name="G2_R" value="0.00015"/>

<!-- control effectiveness (forward) -->
<define name="FORWARD_G1_P" value="0.0020"/>
<define name="FORWARD_G1_Q" value="0.0077"/>
<define name="FORWARD_G1_R" value="0.004"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="60.0"/>
<define name="REF_ERR_Q" value="60.0"/>
<define name="REF_ERR_R" value="44.0"/>
<define name="REF_RATE_P" value="6.5"/>
<define name="REF_RATE_Q" value="6.5"/>
<define name="REF_RATE_R" value="5.4"/>

<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="120.0" unit="deg/s"/>

<!-- Maximum rate setpoint in rate control mode -->
<define name="MAX_RATE" value="3.0" unit="rad/s"/>

<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="1.5"/>
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.047"/>
<define name="ACT_DYN_Q" value="0.047"/>
<define name="ACT_DYN_R" value="0.047"/>
<define name="ACT_DYN_B" value="0.047"/>
<define name="ACT_DYN_P" value="0.047"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="310"/>
<define name="HOVER_KD" value="130"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="0"/>
<define name="IGAIN" value="20"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
</section>

<section name="BAT">
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 0.76* adc)"/>
<define name="BAT_NB_CELLS" value="4"/>
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.0" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0" unit="V"/>
</section>

<section name="MISC">
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>

<define name="NAV_CLIMB_VSPEED" value="3.5"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>


<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="AP_MODE_NAV"/>

<define name="FAILSAFE_HOME_RADIUS" value="600" unit="m"/>

</section>

<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="TRUE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>

<section name="GCS">
<define name="SPEECH_NAME" value="OverDone"/>
<define name="AC_ICON" value="flyingwing"/>
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>

</airframe>
1 change: 1 addition & 0 deletions conf/airframes/tudelft/nederdrone4.xml
View file
Expand Up @@ -82,6 +82,7 @@
<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
</module>
<module name="preflight_checks"/>

<!--module name="follow_me">
<define name="FOLLOW_ME_DISTANCE" value="60"/>
Expand Down