Hybrid guidance code for hybrid drones #1769
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| <section name="SIMULATOR" prefix="NPS_"> | ||
| <define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/> |
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please use the type="string[]" attribute like in the other up-to-date airframe files...
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or remove it completely if the NPS target is not working...
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Please remove the high_speed_logger_spi_link.xml module, it has been renamed to logger_spi_link in c12546a |
| <!DOCTYPE settings SYSTEM "../settings.dtd"> | ||
| <settings> | ||
| <dl_settings> | ||
| <dl_settings NAME="indi"> |
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why add this when we already have stabilization_indi.xml?
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This is a duplicate (old version) that was accidentally included during the merge process. Will remove it (nice catch :) )
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please run |
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| */ | ||
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Thanks for the great peer-review! Will add your suggestions. |
| @@ -338,7 +338,7 @@ def run(): | |||
| VEHICLE_QUATS = [["AHRS_REF_QUAT", 6, "Estimate", True], ["AHRS_REF_QUAT", 2, "Reference", True]] | |||
| BAR_VALUES = [["ROTORCRAFT_RADIO_CONTROL", 5, "Throttle (%%) %i", 0, 100, 100]] | |||
| window_title = "Attitude_Viz" | |||
| rotate_theta = -90 | |||
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if you change the default, please update the help accordingly...
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@EwoudSmeur Not sure about this one, can you look into it please?
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I have not used the visualizer recently on master, but it used to be rotated by 90 degrees wrt. the quadshot attitude... Not sure what help you mean
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the help text that is printed a few lines below should of course reflect the actual default in the code....
…luded in airframe file, and not part of default rotorcraft configuration
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@flixr Happy with the changes, can this be merged to Master? Please let me know if I should change anything else, and thanks again for the excellent review. |
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Do the added airframe files really all compile? |
… quadshot in the examples folder
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@flixr Done. I did not know about the quadshot file in the examples folder, so it should be good now. Also, I removed the high_speed_logger_spi_link.xml file as requested. |
This pull request is for the guidance algorithms used to control hybrid drones like the Quadshot and MavShot. It supports autonomous waypoint navigation as well as "forward-flight". The code was flight tested in autonomous waypoint navigation mode, including autonomous landing (using sonar).