[paparazzi-commits] [paparazzi/paparazzi] 6dcabb: update INDI tu use full control effecitvens matrix...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 6dcabb3a572f2a4ffd9aff7cbf3e0f9a04e9c7a6
      
https://github.com/paparazzi/paparazzi/commit/6dcabb3a572f2a4ffd9aff7cbf3e0f9a04e9c7a6
  Author: Ewoud Smeur <address@hidden>
  Date:   2016-12-01 (Thu, 01 Dec 2016)

  Changed paths:
    M conf/abi.xml
    M conf/airframes/BR/bebop_indi.xml
    M conf/airframes/BR/bebop_indi_frog.xml
    M conf/airframes/BR/bebop_indi_frog_flip.xml
    M conf/airframes/BR/ladybird_kit_indi_bart.xml
    M conf/airframes/CDW/cdw_bebop.xml
    M conf/airframes/KS/ks_mavtec1.xml
    M conf/airframes/OPENUAS/openuas_ardrone2.xml
    M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
    M conf/airframes/OPENUAS/openuas_psi.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
    M conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
    M conf/airframes/TUDELFT/tudelft_bebop2_indi_MAVlink.xml
    M conf/airframes/TUDELFT/tudelft_bebop2_no_damping.xml
    M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
    M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
    A conf/airframes/TUDELFT/tudelft_bebop_indi_actuators.xml
    M conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
    M conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml
    M conf/airframes/TUDELFT/tudelft_bebop_optitrack.xml
    M conf/airframes/TUDELFT/tudelft_conf.xml
    M conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml
    M conf/airframes/TUDELFT/tudelft_course2016_bebop_colorfilter.xml
    M conf/airframes/TUDELFT/tudelft_guido_ardrone2_optitrack.xml
    M conf/airframes/TUDELFT/tudelft_iris_indi.xml
    M conf/airframes/TUDELFT/tudelft_mavshot.xml
    M conf/airframes/TUDELFT/tudelft_mavtec1.xml
    M conf/airframes/TUDELFT/tudelft_mavtec5.xml
    M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
    M conf/airframes/TUDELFT/tudelft_selfie.xml
    M conf/airframes/examples/ardrone2_px4flow_hover.xml
    M conf/airframes/examples/bebop2_indi.xml
    M conf/airframes/examples/quadrotor_navstik.xml
    M conf/airframes/examples/quadshot_178_pylons.xml
    M conf/airframes/examples/quadshot_asp21_spektrum.xml
    M conf/airframes/untested/ardrone2_indi.xml
    M conf/airframes/untested/ardrone2_optitrack.xml
    M conf/airframes/untested/bebop_indi.xml
    A conf/firmwares/subsystems/rotorcraft/stabilization_indi_simple.makefile
    M conf/firmwares/subsystems/rotorcraft/stabilization_rate_indi.makefile
    M conf/settings/control/stabilization_indi.xml
    M conf/telemetry/default_rotorcraft.xml
    M sw/airborne/boards/bebop/actuators.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.h
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
    A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
    A sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.h
    M sw/airborne/math/pprz_algebra.h
    M sw/airborne/math/pprz_algebra_float.c
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/modules/ins/ins_skeleton.c
    M sw/airborne/modules/sensors/rpm_sensor.c
    M sw/airborne/modules/sonar/sonar_bebop.c
    M sw/airborne/state.h
    M sw/airborne/subsystems/abi_sender_ids.h
    M sw/airborne/subsystems/actuators.c
    M sw/airborne/subsystems/actuators.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/ext/pprzlink
    M sw/tools/generators/gen_airframe.ml

  Log Message:
  -----------
  update INDI tu use full control effecitvens matrix (#1916)

* update INDI tu use full control effecitvens matrix

Instead of using commands (roll, pitch, yaw, thrust), give the
controller direct control over all actuators.
This allows for online individual actuator control effectiveness
estimation and inversion, as well as better saturation handling.
The INDI controller as it was previous is renamed to 'simple'.

* Made INDI more flexible wrt number of actuators

- 4x4 matrix inverse to accomodate the thrust axis as well
- support for more actuators
- cleanup of code

* Change filters guidance indi to butterworth

* Added body acceleration to state interface

* Better adaptation and guidance thrust increment

- Adaptation flexible wrt. number of actuators.
- Added adaptation of the specific force effectiveness of the actuators.
- Added connection to guidance INDI through ABI. The thrust increment is
  caclulated in guidance INDI and sent to the stabilization.

* lower case variables

* change filter of indi to butterworth

* INDI fix array index & no declarations in for loop

- Also added doxygen comments

* Added actuators_pprz

the array actuators is used to drive the servos, so a new array to store
the command to the actuators in pprz scale is needed

* Removed hardcoded scaling