[paparazzi-commits] [paparazzi/paparazzi] cfabb5: [gazebo] Add actuator dynamics and bebop model (#2...

[GitHub]

  Branch: refs/heads/gec_updates
  Home:   https://github.com/paparazzi/paparazzi
  Commit: cfabb51eedcb6447c3485e6c8cdd18423897c862
      
https://github.com/paparazzi/paparazzi/commit/cfabb51eedcb6447c3485e6c8cdd18423897c862
  Author: Tom van Dijk <address@hidden>
  Date:   2018-01-30 (Tue, 30 Jan 2018)

  Changed paths:
    M conf/airframes/examples/ardrone2_gazebo.xml
    M conf/airframes/examples/ardrone2_gazebo_cyberzoo.xml
    M conf/airframes/examples/bebop.xml
    M conf/airframes/examples/bebop2_indi.xml
    M conf/modules/fdm_gazebo.xml
    A conf/simulator/gazebo/airframes/ardrone2.xml
    A conf/simulator/gazebo/airframes/bebop.xml
    A conf/simulator/gazebo/models/bebop/bebop.sdf
    A conf/simulator/gazebo/models/bebop/model.config
    M sw/airborne/filters/high_pass_filter.h
    M sw/simulator/nps/nps_fdm_gazebo.cpp

  Log Message:
  -----------
  [gazebo] Add actuator dynamics and bebop model (#2219)

* Add gazebo model for Parrot Bebop 1

* Add first-order high pass filter

* First implementation of actuator dynamics and spinup torque

Flies ok with PID control

Does not fly ok with INDI, the required G1 R is 0.159 instead of
0.0022 (estimated by flying in adaptive mode). The other parameters
are close to those specified in the airframe file.

* FIX incorrect yaw behavior

Fixed two bugs:
1. gazebo_actuators.torques was set to NPS_ACTUATOR_THRUSTS
2. spinup torque direction is now also controlled by motor mixing

* Clean up debug code and file logger

* Clean up gazebo example airframes

* Minor cleanup

* FIX warnings about missing initializer in fdm_gazebo

* Update documentation

* Remove modules section, move to firmware

* Minor fixes to fdm_gazebo and high_pass_filter

* Move actuator dynamics to included airframe files

Should prevent duplicate actuator defines spread accross all
airframe files.

* Fix FILTER_ROLL_RATE in bebop2_indi airframe

Moved to firmware targets so it will be disabled in gazebo.
Is this actually working in jsbsim??

* Update documentation

* Fix newlines

* Minor fixes in nps_fdm_gazebo.cpp

* Re-enable filter roll rate

Caution: causes oscillations around roll axis in gazebo

* Disable roll filter and cleanup


  Commit: ff8c58a190eee46f527f79c4ab3ff8ac0282a61e
      
https://github.com/paparazzi/paparazzi/commit/ff8c58a190eee46f527f79c4ab3ff8ac0282a61e
  Author: Tom van Dijk <address@hidden>
  Date:   2018-02-04 (Sun, 04 Feb 2018)

  Changed paths:
    M conf/airframes/tudelft/bebop_orangeavoid_course2017.xml
    M conf/simulator/gazebo/airframes/ardrone2.xml
    M conf/simulator/gazebo/airframes/bebop.xml
    M conf/simulator/gazebo/models/bebop/bebop.sdf
    M sw/simulator/nps/nps_fdm_gazebo.cpp

  Log Message:
  -----------
  [gazebo] Simulate Bebop1 camera (#2225)

* First attempt at bebop fisheye camera

* Try setting raw camera output size during initialization, does not work

SetImageSize() is ignored and SetEnvTextureSize() causes an
exception. Currently the camera output is too large for real-time
operation.

* FIX apply MT9F002_OUTPUT_SCALER to gazebo front camera

* Add MT9F002 camera cropping to fdm_gazebo

* Apply MT9F002_TARGET_FPS to bebop front cam in gazebo

* Set up bottom camera for bebop model

* Minor fixes and cleanup

* Fix MT9F002 partially applied to all cameras

* Remove sensors_params_bebop, introduce NPS_SIMULATE_MT9F002

Reduces duplicate code for sensor parameters, and follows the
same pattern as NPS_SIMULATE_LASER_RANGE_ARRAY.
Also does not require the sensor params to be changed in every
bebop airframe.


  Commit: a84368b892503ce64a145ffda596cb4bec458fb6
      
https://github.com/paparazzi/paparazzi/commit/a84368b892503ce64a145ffda596cb4bec458fb6
  Author: OpenUAS <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M sw/tools/parrot/disco.py

  Log Message:
  -----------
  Update disco.py


  Commit: 857999e71de5051dca12dc58fed8b9f9acfb0daa
      
https://github.com/paparazzi/paparazzi/commit/857999e71de5051dca12dc58fed8b9f9acfb0daa
  Author: OpenUAS <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M sw/tools/parrot/bebop.py

  Log Message:
  -----------
  Update bebop.py


  Commit: b42caab15fc10a0762fc48b92ab95b45ef64e110
      
https://github.com/paparazzi/paparazzi/commit/b42caab15fc10a0762fc48b92ab95b45ef64e110
  Author: Gautier Hattenberger <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M conf/abi.xml
    A conf/modules/jevois.xml
    A sw/airborne/modules/sensors/cameras/jevois.c
    A sw/airborne/modules/sensors/cameras/jevois.h
    M sw/airborne/subsystems/abi_sender_ids.h

  Log Message:
  -----------
  [module] support for jevois smart cameras


  Commit: 3989057fe9873060f55c44c984d020c2fdffc47f
      
https://github.com/paparazzi/paparazzi/commit/3989057fe9873060f55c44c984d020c2fdffc47f
  Author: Gautier Hattenberger <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    A conf/modules/object_tracking.xml
    A sw/airborne/modules/ctrl/object_tracking.c
    A sw/airborne/modules/ctrl/object_tracking.h

  Log Message:
  -----------
  [module] add object_tracking module based on FOLLOW_TARGET message


  Commit: a465cfd96c251615347e02d79e820b4bd30cc8e0
      
https://github.com/paparazzi/paparazzi/commit/a465cfd96c251615347e02d79e820b4bd30cc8e0
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml

  Log Message:
  -----------
  Updated name


  Commit: e8438a79b9d182af69b799ffe8bfbf3b0b045d1c
      
https://github.com/paparazzi/paparazzi/commit/e8438a79b9d182af69b799ffe8bfbf3b0b045d1c
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M sw/airborne/subsystems/datalink/datalink.h
    M sw/ext/rustlink

  Log Message:
  -----------
  Bump rustlink


  Commit: 4597c3a27b5ad26028f3e3cbded9afac1d2170e5
      
https://github.com/paparazzi/paparazzi/commit/4597c3a27b5ad26028f3e3cbded9afac1d2170e5
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M sw/airborne/modules/datalink/gec/gec.c
    M sw/airborne/modules/datalink/gec/gec.h
    M sw/airborne/modules/datalink/gec_dl.c
    M sw/airborne/modules/datalink/gec_dl.h
    M sw/simulator/nps/nps_autopilot_rotorcraft.c

  Log Message:
  -----------
  Changes in GEC, now communication and key exchange works. TODO is key 
renegotiation and some cleanup


  Commit: 9936d14308b4b5dd9744da18ba6bcb29a9ec3ad3
      
https://github.com/paparazzi/paparazzi/commit/9936d14308b4b5dd9744da18ba6bcb29a9ec3ad3
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M sw/ext/rustlink

  Log Message:
  -----------
  Bump pprzlink


  Commit: 179489a2e6c4c64de85d6b0bf60828c41e9797d2
      
https://github.com/paparazzi/paparazzi/commit/179489a2e6c4c64de85d6b0bf60828c41e9797d2
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Changed paths:
    M conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
    M conf/airframes/AGGIEAIR/aggieair_conf.xml
    M conf/airframes/AGGIEAIR/aggieair_control_panel.xml
    M sw/airborne/modules/datalink/gec_dl.c
    M sw/airborne/modules/datalink/gec_dl.h

  Log Message:
  -----------
  Update in GEC and related control panel configs


  Commit: 193b3d33d1f1d4bcf33140e13f5a03eb2f4071e5
      
https://github.com/paparazzi/paparazzi/commit/193b3d33d1f1d4bcf33140e13f5a03eb2f4071e5
  Author: Michal Podhradsky <address@hidden>
  Date:   2018-02-08 (Thu, 08 Feb 2018)

  Log Message:
  -----------
  Merge branch 'gec_updates' of github.com:paparazzi/paparazzi into gec_updates


Compare: 
https://github.com/paparazzi/paparazzi/compare/cf42db3d2044...193b3d33d1f1