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

[GitHub]

  Branch: refs/heads/master
  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