Showing with 27,618 additions and 739 deletions.
  1. +9 −0 conf/abi.xml
  2. +0 −11 conf/airframes/ENAC/conf_enac.xml
  3. +28 −50 conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
  4. +5 −23 conf/airframes/ENAC/quadrotor/cobra.xml
  5. +4 −11 conf/airframes/ENAC/quadrotor/cobraV2.xml
  6. +4 −24 conf/airframes/ENAC/quadrotor/maya_indoor.xml
  7. +3 −21 conf/airframes/ENAC/quadrotor/maya_outdoor.xml
  8. +1 −0 conf/airframes/ENAC/quadrotor/niquad_wind.xml
  9. +19 −50 conf/airframes/ENAC/quadrotor/robobee.xml
  10. +0 −266 conf/airframes/ENAC/quadrotor/ulysse_indi.xml
  11. +1 −3 conf/airframes/examples/bebop2_indi.xml
  12. +4 −4 conf/airframes/tudelft/rot_wing_25kg.xml
  13. +3 −3 conf/airframes/tudelft/rot_wing_v3d.xml
  14. +1 −3 conf/airframes/tudelft/rot_wing_v3e.xml
  15. +532 −0 conf/airframes/tudelft/rot_wing_v3f.xml
  16. +532 −0 conf/airframes/tudelft/rot_wing_v3g.xml
  17. +532 −0 conf/airframes/tudelft/rot_wing_v3h.xml
  18. +3 −19 conf/flight_plans/flight_plan.dtd
  19. +1 −1 conf/modules/ins_ext_pose.xml
  20. +29 −0 conf/modules/lidar_vl53l5cx.xml
  21. +109 −0 conf/simulator/jsbsim/aircraft/Systems/aerodynamics_falcon.xml
  22. +442 −0 conf/simulator/jsbsim/aircraft/anton.xml
  23. +394 −0 conf/simulator/jsbsim/aircraft/falcon.xml
  24. +7 −3 conf/telemetry/highspeed_rotorcraft.xml
  25. +33 −0 conf/userconf/tudelft/conf.xml
  26. +4 −0 sw/airborne/arch/chibios/mcu_periph/i2c_arch.c
  27. +148 −0 sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c
  28. +35 −0 sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.h
  29. +118 −0 sw/airborne/arch/chibios/modules/lidar/vl53l5cx_platform.c
  30. +20 −20 sw/airborne/boards/tawaki/chibios/v2.0/board.h
  31. +2 −2 sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg
  32. +0 −2 sw/airborne/firmwares/fixedwing/nav.h
  33. +8 −13 sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
  34. +0 −22 sw/airborne/firmwares/rotorcraft/navigation.c
  35. +1 −6 sw/airborne/firmwares/rotorcraft/navigation.h
  36. +1 −5 sw/airborne/firmwares/rover/guidance/rover_guidance.c
  37. +0 −2 sw/airborne/firmwares/rover/navigation.h
  38. +9 −0 sw/airborne/modules/core/abi_sender_ids.h
  39. +3 −3 sw/airborne/modules/gps/gps_datalink.c
  40. +50 −19 sw/airborne/modules/ins/ins_ekf2.cpp
  41. +69 −27 sw/airborne/modules/ins/ins_ext_pose.c
  42. +2 −2 sw/airborne/modules/ins/ins_ext_pose.h
  43. +186 −0 sw/airborne/modules/lidar/vl53l5cx_platform.h
  44. +24 −9 sw/airborne/modules/nav/nav_heli_spinup.c
  45. +1,311 −0 sw/airborne/peripherals/vl53l5cx_api.c
  46. +722 −0 sw/airborne/peripherals/vl53l5cx_api.h
  47. +22,015 −0 sw/airborne/peripherals/vl53l5cx_buffers.h
  48. +1 −1 sw/ext/pprzlink
  49. +188 −96 sw/ground_segment/python/natnet3.x/natnet2ivy.py
  50. +5 −18 sw/tools/generators/gen_flight_plan.ml
9 changes: 9 additions & 0 deletions conf/abi.xml
View file
Expand Up @@ -248,6 +248,15 @@
<field name="vel_sp" type="struct FloatVect3 *" unit="m/s"/>
</message>

<message name="LIDAR_DATA" id="37">
<field name="stamp" type="uint32_t" unit="us"/>
<field name="numRows" type="uint32_t">number of rows of the matrix</field>
<field name="numCols" type="uint32_t">number of columns of the matrix</field>
<field name="size" type="uint16_t">size of a matrix element</field>
<field name="subtype" type="uint8_t">subtype of data, driver dependent (e.g. distance, reflectance, ...)</field>
<field name="data" type="uint8_t*">pointer to the data of the matrix</field>
</message>

</msg_class>

</protocol>
11 changes: 0 additions & 11 deletions conf/airframes/ENAC/conf_enac.xml
View file
Expand Up @@ -43,17 +43,6 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
gui_color="#fdd12f992f99"
/>
<aircraft
name="ULYSSE"
ac_id="218"
airframe="airframes/ENAC/quadrotor/ulysse_indi.xml"
radio="radios/FrSky_X-Lite.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
gui_color="#c6d33e3ef958"
/>
<aircraft
name="CobraV2"
ac_id="11"
Expand Down
78 changes: 28 additions & 50 deletions conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
View file
Expand Up @@ -11,6 +11,8 @@
</description>

<firmware name="rotorcraft">
<!--autopilot name="rotorcraft_autopilot"/-->

<configure name="PERIODIC_FREQUENCY" value="1000"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>

Expand All @@ -28,18 +30,12 @@

<module name="telemetry" type="xbee_api"/>

<module name="motor_mixing"/>

<module name="actuators" type="dshot">
<!--define name="DSHOT_SPEED" value="300"/-->
</module>
<module name="actuators" type="dshot"/>

<module name="board" type="tawaki">
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
<define name="IMU_MPU_SMPLRT_DIV" value="0"/>
<!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
<configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
</module>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
Expand All @@ -50,23 +46,20 @@
<define name="WLS_N_U" value="4" />
<define name="WLS_N_V" value="4" />
</module>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>
<module name="guidance" type="indi"/>

<module name="ins"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="ekf2"/>
<!--module name="ins"/>
<module name="ahrs" type="int_cmpl_quat"/-->
<module name="air_data"/>

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

<module name="filter" type="1euro_imu">
<!--module name="filter" type="1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module>
</module-->

<!--module name="sonar_adc">
<configure name="ADC_SONAR" value="ADC_1"/>
Expand Down Expand Up @@ -100,13 +93,6 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>

<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TYPE" value="QUAD_X"/>
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
</section>

<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
Expand All @@ -129,15 +115,15 @@
<define name="ACCEL_Y_SENS" value="2.450207588413862" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.4560049628471914" integer="16"/>

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_X_SIGN" value="-1"/>
<define name="MAG_Y_SIGN" value="-1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="-3868"/>
<define name="MAG_Y_NEUTRAL" value="2013"/>
<define name="MAG_Z_NEUTRAL" value="-101"/>
<define name="MAG_X_SENS" value="0.6497766229092939" integer="16"/>
<define name="MAG_Y_SENS" value="0.6352026516080006" integer="16"/>
<define name="MAG_Z_SENS" value="0.6627284899394246" integer="16"/>
<define name="MAG_X_NEUTRAL" value="415"/>
<define name="MAG_Y_NEUTRAL" value="-2365"/>
<define name="MAG_Z_NEUTRAL" value="1626"/>
<define name="MAG_X_SENS" value="0.6639205812316621" integer="16"/>
<define name="MAG_Y_SENS" value="0.6470134039115051" integer="16"/>
<define name="MAG_Z_SENS" value="0.6456573321937272" integer="16"/>

<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
Expand All @@ -147,10 +133,10 @@
<section name="MAG">
<define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
<define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
<define name="LIS3MDL_MAG_TO_IMU_PSI" value="90." unit="deg"/>
<define name="LIS3MDL_MAG_TO_IMU_PSI" value="0." unit="deg"/>
</section>

<include href="conf/mag/delft_valkenburg.xml"/>
<include href="conf/mag/toulouse_muret.xml"/>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
Expand Down Expand Up @@ -198,37 +184,29 @@
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</section>

<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="THRUST_DYNAMICS_FREQ" value="30.5"/>
<define name="RC_DEBUG" value="FALSE"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1."/>
<define name="HOVER_KP" value="87"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="11"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.25"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="40"/>
<define name="DGAIN" value="108"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
<define name="REF_MAX_SPEED" value="2.5"/>
<define name="REF_MAX_ACCEL" value="2.5"/>
</section>

<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
<define name="NAV_CLIMB_VSPEED" value="1.0"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="NAV_CLIMB_VSPEED" value="1.5"/>
<define name="NAV_DESCEND_VSPEED" value="-0.8"/>
<define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
</section>

Expand Down Expand Up @@ -267,9 +245,9 @@
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="COMMANDS_NB" value="4"/>
<define name="JSBSIM_MODEL" value="anton" type="string"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

Expand Down
28 changes: 5 additions & 23 deletions conf/airframes/ENAC/quadrotor/cobra.xml
View file
Expand Up @@ -19,6 +19,7 @@
<module name="radio_control" type="sbus"/>
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
<define name="INS_EKF2_OPTITRACK" value="TRUE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
Expand Down Expand Up @@ -52,18 +53,14 @@
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>

<module name="ins" type="ekf2">
<define name="INS_EKF2_OPTITRACK" value="TRUE"/>
</module>
<module name="ins" type="ekf2"/>
<module name="preflight_checks"/>

<!--module name="filter" type="1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module-->

<module name="motor_mixing"/>

<module name="tag_tracking">
<configure name="JEVOIS_UART" value="UART3"/>
</module>
Expand All @@ -89,11 +86,6 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>

<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>

<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
Expand Down Expand Up @@ -172,23 +164,11 @@
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="110"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="41"/>
<define name="DGAIN" value="108"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
<define name="REF_MAX_SPEED" value="0.5"/>
<define name="REF_MAX_ACCEL" value="2."/>
</section>
Expand Down Expand Up @@ -231,8 +211,10 @@
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

</airframe>
Expand Down
15 changes: 4 additions & 11 deletions conf/airframes/ENAC/quadrotor/cobraV2.xml
View file
Expand Up @@ -19,6 +19,7 @@
<module name="radio_control" type="sbus"/>
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
<define name="INS_EKF2_OPTITRACK" value="TRUE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
Expand Down Expand Up @@ -48,18 +49,14 @@
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>

<module name="ins" type="ekf2">
<define name="INS_EKF2_OPTITRACK" value="TRUE"/>
</module>
<module name="ins" type="ekf2"/>
<module name="preflight_checks"/>

<!--module name="filter" type="1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module-->

<module name="motor_mixing"/>

<module name="tag_tracking">
<configure name="JEVOIS_UART" value="UART3"/>
</module>
Expand All @@ -85,11 +82,6 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>

<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>

<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
Expand Down Expand Up @@ -252,9 +244,10 @@
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

</airframe>
Expand Down