[paparazzi-commits] [paparazzi/paparazzi] 363dec: Autopilot refactor (#2009)

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 363dec86938cd1090221ccd772fc6fae58ed89a2
      
https://github.com/paparazzi/paparazzi/commit/363dec86938cd1090221ccd772fc6fae58ed89a2
  Author: Gautier Hattenberger <address@hidden>
  Date:   2017-02-19 (Sun, 19 Feb 2017)

  Changed paths:
    M conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
    M conf/airframes/AGGIEAIR/ark_hexa_1-8.xml
    M conf/airframes/BR/DelFlyDualPWMservo.xml
    M conf/airframes/BR/DreamCacher_bart.xml
    M conf/airframes/BR/asctec_br.xml
    M conf/airframes/BR/bebop_default.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_bart.xml
    M conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
    M conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
    M conf/airframes/BR/ladybird_kit_indi_bart.xml
    M conf/airframes/BR/mavtec4_br.xml
    M conf/airframes/CDW/cdw_asctec.xml
    M conf/airframes/CDW/cdw_bebop.xml
    M conf/airframes/CDW/cdw_mavtec.xml
    M conf/airframes/CDW/cdw_tricopter.xml
    M conf/airframes/CRIDEA/cridea_quadsuave.xml
    M conf/airframes/ENAC/hoops_gen_ap.xml
    M conf/airframes/ENAC/quadrotor/ard2_base_control.xml
    M conf/airframes/ENAC/quadrotor/bebop_201.xml
    M conf/airframes/ENAC/quadrotor/blender.xml
    M conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
    M conf/airframes/ESDEN/esden_cocto_lm2a2.xml
    M conf/airframes/ESDEN/esden_gain_scheduling_example.xml
    M conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
    M conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
    M conf/airframes/ESDEN/esden_lisa2_hex.xml
    M conf/airframes/ESDEN/esden_qs_asp22.xml
    M conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
    M conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
    M conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
    M conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
    M conf/airframes/ESDEN/esden_quady_ls10pwm.xml
    M conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
    M conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
    M conf/airframes/FLIXR/flixr_lisa_mx.xml
    M conf/airframes/FLIXR/flixr_zmr250_elle0.xml
    M conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
    M conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
    M conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
    M conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
    M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
    M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
    M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
    M conf/airframes/KS/ks_mavtec1.xml
    M conf/airframes/OPENUAS/openuas_ardrone2.xml
    M conf/airframes/OPENUAS/openuas_itsybitsy.xml
    M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
    M conf/airframes/OPENUAS/openuas_psi.xml
    R conf/airframes/TUDELFT/Bart_heliDD_INDI.xml
    R conf/airframes/TUDELFT/Bart_heliDD_pid.xml
    M conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
    M conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
    M conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.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_opticflow.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
    M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
    M conf/airframes/TUDELFT/tudelft_asctec_freek.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_bebop2_vision.xml
    M conf/airframes/TUDELFT/tudelft_bebop_autonomous_race.xml
    M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
    M conf/airframes/TUDELFT/tudelft_bebop_frontcam.xml
    M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
    M 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
    A conf/airframes/TUDELFT/tudelft_bs_helidd_indi.xml
    A conf/airframes/TUDELFT/tudelft_bs_helidd_pid.xml
    M conf/airframes/TUDELFT/tudelft_guido_ardrone2_optitrack.xml
    M conf/airframes/TUDELFT/tudelft_heli450.xml
    M conf/airframes/TUDELFT/tudelft_heliGeniusDD.xml
    M conf/airframes/TUDELFT/tudelft_ladybird_lisa_mxs.xml
    M conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml
    M conf/airframes/TUDELFT/tudelft_mavshot.xml
    M conf/airframes/TUDELFT/tudelft_mavtec1.xml
    M conf/airframes/TUDELFT/tudelft_mavtec4.xml
    M conf/airframes/TUDELFT/tudelft_mavtec5.xml
    M conf/airframes/TUDELFT/tudelft_quadshot_pylons.xml
    M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
    M conf/airframes/TUDELFT/tudelft_selfie.xml
    M conf/airframes/TUDELFT/tudelft_splash.xml
    M conf/airframes/TUDELFT/tudelft_walkera_genius_v2.xml
    M conf/airframes/examples/ardrone2.xml
    M conf/airframes/examples/ardrone2_opticflow_hover.xml
    M conf/airframes/examples/ardrone2_px4flow_hover.xml
    M conf/airframes/examples/bebop.xml
    M conf/airframes/examples/bebop2_indi.xml
    M conf/airframes/examples/booz2.xml
    M conf/airframes/examples/bumblebee_quad.xml
    M conf/airframes/examples/h_hex.xml
    M conf/airframes/examples/krooz_sd_quad_mkk.xml
    M conf/airframes/examples/ladybird_lisa_s.xml
    M conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
    M conf/airframes/examples/quadrotor_elle0.xml
    M conf/airframes/examples/quadrotor_hbmini.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/airframes/examples/quadrotor_lisa_mx.xml
    M conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
    M conf/airframes/examples/quadrotor_lisa_s.xml
    M conf/airframes/examples/quadrotor_navgo.xml
    M conf/airframes/examples/quadrotor_navstik.xml
    M conf/airframes/examples/quadrotor_revo.xml
    M conf/airframes/examples/quadshot_178_pylons.xml
    M conf/airframes/examples/quadshot_asp21_spektrum.xml
    M conf/airframes/mm/bebop.xml
    M conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_rc.xml
    M conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_rc.xml
    M conf/airframes/untested/ardrone2_indi.xml
    M conf/airframes/untested/ardrone2_optitrack.xml
    M conf/airframes/untested/bebop_indi.xml
    M conf/airframes/untested/hex_naze32.xml
    M conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
    M conf/airframes/untested/krooz_sd_hexa_mkk.xml
    M conf/airframes/untested/krooz_sd_okto_mkk.xml
    M conf/airframes/untested/krooz_sd_quad_pwm.xml
    M conf/airframes/untested/lisa_asctec.xml
    M conf/airframes/untested/quad_cc3d.xml
    M conf/airframes/untested/quad_cjmcu.xml
    M conf/airframes/untested/quad_flip32.xml
    M conf/airframes/untested/quad_revo_nano.xml
    M conf/airframes/untested/quadrotor_lisa_m_mkk.xml
    M conf/airframes/untested/quadrotor_mlkf.xml
    M conf/airframes/untested/quadrotor_pixhawk_lite.xml
    M conf/airframes/untested/quadrotor_px4fmu.xml
    M conf/airframes/untested/stm32f4_discovery_test.xml
    M conf/autopilot/rotorcraft_autopilot.xml
    M conf/firmwares/fixedwing.makefile
    M conf/firmwares/rotorcraft.makefile
    M conf/firmwares/subsystems/fixedwing/autopilot.makefile
    M conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml
    M conf/flight_plans/OPENUAS/include_obc2014_mission.xml
    M conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml
    M conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml
    M conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml
    M conf/flight_plans/basic.xml
    M conf/flight_plans/basic_sim.xml
    M conf/flight_plans/competitions/EMAV2008.xml
    M conf/flight_plans/competitions/EMAV2009.xml
    M conf/flight_plans/competitions/IMAV2014_carto.xml
    M conf/flight_plans/competitions/mav07.xml
    M conf/flight_plans/competitions/mav08.xml
    M conf/flight_plans/corsica.xml
    M conf/flight_plans/creidlitz.xml
    M conf/flight_plans/demo_gvf.xml
    M conf/flight_plans/demo_module.xml
    M conf/flight_plans/dynamic_sectors.xml
    M conf/flight_plans/fp_tp_auto.xml
    M conf/flight_plans/generic.xml
    M conf/flight_plans/grosslobke_demo.xml
    M conf/flight_plans/grosslobke_kreise.xml
    M conf/flight_plans/huit.xml
    M conf/flight_plans/ingolfsskali.xml
    M conf/flight_plans/joystick.xml
    M conf/flight_plans/kalscott.xml
    M conf/flight_plans/kv_svalbard.xml
    M conf/flight_plans/mission_fw.xml
    M conf/flight_plans/muret_for.xml
    M conf/flight_plans/nav_modules.xml
    M conf/flight_plans/nordlys.xml
    M conf/flight_plans/poles.xml
    M conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
    M conf/flight_plans/tcas.xml
    M conf/flight_plans/versatile.xml
    M conf/flight_plans/versatile_airspeed.xml
    M conf/flight_plans/versatile_carto_fixe_muret.xml
    M conf/flight_plans/versatile_geofence.xml
    M conf/flight_plans/xsens_cachejunction.xml
    M conf/flight_plans/zamboni_survey_test.xml
    M conf/joystick/attack3_booz_nav.xml
    M conf/joystick/logitech_f710.xml
    M conf/joystick/ms_sidewinder.xml
    M conf/joystick/n64_gamepad.xml
    M conf/joystick/nes_gamepad.xml
    M conf/joystick/snes_gamepad.xml
    M conf/modules/actuators_dummy.xml
    M conf/modules/nav_catapult.xml
    M conf/modules/radio_control_superbitrf_rc.xml
    M conf/settings/OPENUAS/openuas_fixedwing_basic_extra.xml
    M conf/settings/OPENUAS/openuas_tuning_basic_ins.xml
    M conf/settings/fixedwing_basic.xml
    M conf/settings/persistent_settings.xml
    M conf/settings/power_switch.xml
    M conf/settings/rotorcraft_basic.xml
    M conf/settings/rotorcraft_basic_multi.xml
    M conf/settings/superbitrf.xml
    M conf/settings/switchlight.xml
    M sw/airborne/arch/sim/sim_ap.c
    M sw/airborne/arch/sim/sim_gps.c
    A sw/airborne/autopilot.c
    A sw/airborne/autopilot.h
    M sw/airborne/boards/ardrone/actuators.c
    M sw/airborne/boards/bebop/actuators.c
    M sw/airborne/boards/disco/actuators.c
    R sw/airborne/firmwares/fixedwing/autopilot.c
    R sw/airborne/firmwares/fixedwing/autopilot.h
    A sw/airborne/firmwares/fixedwing/autopilot_firmware.c
    A sw/airborne/firmwares/fixedwing/autopilot_firmware.h
    A sw/airborne/firmwares/fixedwing/autopilot_generated.c
    A sw/airborne/firmwares/fixedwing/autopilot_generated.h
    A sw/airborne/firmwares/fixedwing/autopilot_static.c
    A sw/airborne/firmwares/fixedwing/autopilot_static.h
    A sw/airborne/firmwares/fixedwing/autopilot_utils.c
    A sw/airborne/firmwares/fixedwing/autopilot_utils.h
    M sw/airborne/firmwares/fixedwing/fixedwing_datalink.c
    M sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/fixedwing/main_ap.h
    M sw/airborne/firmwares/fixedwing/main_fbw.c
    M sw/airborne/firmwares/fixedwing/nav.c
    M sw/airborne/firmwares/fixedwing/nav.h
    M sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
    M sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
    R sw/airborne/firmwares/rotorcraft/autopilot.c
    R sw/airborne/firmwares/rotorcraft/autopilot.h
    M sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
    M sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
    M sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
    A sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
    A sw/airborne/firmwares/rotorcraft/autopilot_firmware.h
    M sw/airborne/firmwares/rotorcraft/autopilot_generated.c
    M sw/airborne/firmwares/rotorcraft/autopilot_guided.c
    M sw/airborne/firmwares/rotorcraft/autopilot_static.c
    M sw/airborne/firmwares/rotorcraft/autopilot_utils.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c
    M sw/airborne/firmwares/rotorcraft/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main_fbw.c
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/airborne/firmwares/rotorcraft/navigation.h
    M sw/airborne/firmwares/rotorcraft/rotorcraft_datalink.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_heli_indi.c
    M sw/airborne/modules/cam_control/cam.c
    M sw/airborne/modules/cam_control/point.c
    M sw/airborne/modules/com/generic_com.c
    M sw/airborne/modules/ctrl/optical_flow_landing.c
    M sw/airborne/modules/datalink/mavlink.c
    M sw/airborne/modules/geo_mag/geo_mag.c
    M sw/airborne/modules/gsm/gsm.c
    M sw/airborne/modules/guidance/gvf/gvf.c
    M sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c
    M sw/airborne/modules/hott/hott.c
    M sw/airborne/modules/hott/hott_eam.h
    M sw/airborne/modules/hott/hott_gam.h
    M sw/airborne/modules/light/led_safety_status.c
    M sw/airborne/modules/loggers/sdlogger_spi_direct.c
    M sw/airborne/modules/meteo/meteo_france_DAQ.c
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c
    M sw/airborne/modules/nav/nav_bungee_takeoff.c
    M sw/airborne/modules/nav/nav_catapult.c
    M sw/airborne/modules/nav/nav_launcher.c
    M sw/airborne/modules/nav/nav_skid_landing.c
    M sw/airborne/modules/nav/takeoff_detect.c
    M sw/airborne/modules/switching/auto1_commands.c
    M sw/airborne/modules/vehicle_interface/vi.h
    M sw/airborne/subsystems/actuators/actuators_asctec.h
    M sw/airborne/subsystems/actuators/actuators_esc32.c
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/electrical.c
    M sw/airborne/subsystems/gps/gps_sim_hitl.c
    M sw/ground_segment/cockpit/live.ml
    M sw/ground_segment/tmtc/app_server.c
    M sw/simulator/nps/nps_autopilot.h
    M sw/simulator/nps/nps_autopilot_fixedwing.c
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/simulator/nps/nps_ivy.c
    M sw/simulator/nps/nps_main_hitl.c
    M sw/simulator/nps/nps_main_sitl.c
    M sw/tools/generators/gen_aircraft.ml

  Log Message:
  -----------
  Autopilot refactor (#2009)

* [autopilot] refactor autopilot API for both firmwares

With this, fixedwing and rotorcraft are mostly using the same interface
for the autopilot. Some specific code and messages handling are still
firmware dependent.
A large part of the autopilot logic of the fixedwing is moved from
main_ap to autopilot_static.
More getter/setter functions are provided.

* [autopilot] update the rest of the system and the conf

for using the refactored autopilot API

* [autopilot] fix some errors from CI servers

* [actuators] use dummy actuators module to prevent autoloading

* Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml

* Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml

* Delete tudelft_course2016_bebop_colorfilter.xml

* Delete tudelft_course2016_bebop_avoider.xml

* [actuators] don't autoload actuators when set to 'none'

* [gcs] autodetect firmware for strip mode button