| fd498ba | Jelle Westenberger | 23 April 2021, 12:46:04 UTC | added bang-bang control section to README | 23 April 2021, 12:46:04 UTC |
| 4055cce | Jelle Westenberger | 20 April 2021, 13:39:23 UTC | new gitignore | 20 April 2021, 13:39:23 UTC |
| 4efe3e0 | Jelle Westenberger | 25 November 2020, 19:45:37 UTC | variable state feedback frequency (for comparison) 29-09-20 | 25 November 2020, 19:45:37 UTC |
| 749b5f7 | Jelle Westenberger | 28 September 2020, 17:42:43 UTC | checkpoint after tests 28-09-20 | 28 September 2020, 17:42:43 UTC |
| 8b0141f | Jelle Westenberger | 25 September 2020, 14:03:11 UTC | implemented continuous waypoints | 25 September 2020, 14:03:11 UTC |
| 2f1d72a | Jelle Westenberger | 25 September 2020, 07:04:10 UTC | checkpoint after experiments 22-09-20 | 25 September 2020, 07:04:10 UTC |
| d064a4a | Jelle Westenberger | 22 September 2020, 16:44:57 UTC | checkpoint after flights 22-09-20 | 22 September 2020, 16:44:57 UTC |
| 4a57c36 | Jelle Westenberger | 22 September 2020, 08:19:59 UTC | new compensation values, fixed compensation for prediction rotation | 22 September 2020, 08:19:59 UTC |
| 47a90b6 | Jelle Westenberger | 18 September 2020, 17:22:55 UTC | fixed bisection converging issue | 18 September 2020, 17:22:55 UTC |
| 5ed1d7a | Jelle Westenberger | 18 September 2020, 07:46:26 UTC | [not tested] rework rotate prediction frame Prediction frame is rotated so that it always predicts in a positive direction. Hopefully this will avoid occurences of NaN in t_target | 18 September 2020, 07:46:26 UTC |
| 1e7705f | Jelle Westenberger | 18 September 2020, 06:52:14 UTC | merge master into OptimalBangBang | 18 September 2020, 06:52:14 UTC |
| befc20b | Fabien-B | 17 September 2020, 08:50:29 UTC | [Joystick] Add option to wait for an event on all axis to start. (#2579) | 17 September 2020, 08:50:29 UTC |
| 6693952 | OpenUAS | 16 September 2020, 19:54:02 UTC | Added sensor for using TFMini via I2C port (#2578) Co-authored-by: Open UAS <noreply@openuas.org> | 16 September 2020, 19:54:02 UTC |
| 0089b8d | jellewestenberger | 16 September 2020, 11:08:38 UTC | code cleanup | 16 September 2020, 11:08:38 UTC |
| 3c5e7d0 | Gautier Hattenberger | 16 September 2020, 08:59:41 UTC | [fix] check FP and AP modules for correct firmware (#2581) | 16 September 2020, 08:59:41 UTC |
| 41a9ec6 | jellewestenberger | 15 September 2020, 17:00:12 UTC | mitigated problem where t_total becomes NaN (not sure if correct) [Tested in cyberzoo] | 15 September 2020, 17:00:12 UTC |
| adbdfa8 | jellewestenberger | 15 September 2020, 11:25:16 UTC | changed bisection signs [not tested] | 15 September 2020, 11:25:16 UTC |
| 02ab162 | jellewestenberger | 15 September 2020, 09:30:12 UTC | checkpoint before changing bisection signs | 15 September 2020, 09:30:12 UTC |
| 1bf78d0 | jellewestenberger | 14 September 2020, 18:55:35 UTC | revert t_total<0 condition since it caused bad braking behavior | 14 September 2020, 18:55:35 UTC |
| e836438 | Ewoud Smeur | 14 September 2020, 16:56:21 UTC | Protect quat to euler conversion for NaN (#2580) If the quaternion is slightly off around +-90 degrees pitch, the result might be a NaN if the asin is computed. Added bounds to make sure this can never happen. The argument should not be outside [-1,1] anyway. | 14 September 2020, 16:56:21 UTC |
| 04c66e0 | jellewestenberger | 14 September 2020, 15:37:58 UTC | checkpoint | 14 September 2020, 15:37:58 UTC |
| 0d532d9 | jellewestenberger | 11 September 2020, 13:03:11 UTC | added compenstation estimator structures | 11 September 2020, 13:03:11 UTC |
| 3b42d6d | Gautier Hattenberger | 10 September 2020, 16:14:01 UTC | Merge pull request #2577 from paparazzi/fix-various A second set of small fixes with: - remove compile error in dshot driver (remove wrong and unused assert) - fix file name report for chibios SD logger - build file binary in OBJDIR for chibios to prevent linking at each upload command - allow upside-down initialization for the float DCM filter - fix makefile script to get the number of CPU core - LTO is optional in board makefiles | 10 September 2020, 16:14:01 UTC |
| 2fad731 | jellewestenberger | 10 September 2020, 15:51:51 UTC | checkpoint after test | 10 September 2020, 15:51:51 UTC |
| 5c08861 | jellewestenberger | 10 September 2020, 13:25:26 UTC | checkpoint test | 10 September 2020, 13:25:26 UTC |
| 620a809 | Gautier Hattenberger | 10 September 2020, 11:50:16 UTC | [build] fix some elements in makefiles - USE_LTO flag in board makefile optional - quote on shell command to get number of CPU cores | 10 September 2020, 11:50:16 UTC |
| bfcd114 | Gautier Hattenberger | 10 September 2020, 11:48:43 UTC | [ahrs] use quaternion to compute initial DCM orientation the euler formula is not correct when the IMU is upside-down | 10 September 2020, 11:48:43 UTC |
| 6b33743 | jellewestenberger | 09 September 2020, 14:29:13 UTC | [not tested] implementented compensation functions based on LSQ + clean up Note: replaced all bound_angle functions by bound_f because of duplicity. Haven't checked if it caused conflicts in flight | 09 September 2020, 14:29:13 UTC |
| 53c2d44 | jellewestenberger | 09 September 2020, 10:56:42 UTC | added own config, control panel and airframe | 09 September 2020, 10:56:42 UTC |
| 827f79e | Gautier Hattenberger | 08 September 2020, 12:58:40 UTC | [build] ChibiOS binary is produced in OBJDIR folder prevent unnecessary linking when uploading | 08 September 2020, 12:58:40 UTC |
| 7198f6c | Gautier Hattenberger | 08 September 2020, 12:34:18 UTC | [sdlog] fix file name report | 08 September 2020, 12:34:18 UTC |
| 3267f13 | Gautier Hattenberger | 08 September 2020, 11:51:38 UTC | [dshot] remove (wrong) assert used for debug | 08 September 2020, 11:51:38 UTC |
| 9b13fc7 | Gautier Hattenberger | 04 September 2020, 16:49:32 UTC | [bebop] improve network script (#2571) * [bebop] improve network script - check that wifi join command is actually correct, with retries - allow configuration for static IP * [bebop] Fix install script for old configuration * [bebop] add encryption configuration Co-authored-by: xp31 <xp31@free.fr> | 04 September 2020, 16:49:32 UTC |
| 1d5f487 | Gautier Hattenberger | 02 September 2020, 08:31:48 UTC | [git] ignore KDE temp file | 04 September 2020, 12:37:10 UTC |
| 6aef1fe | Gautier Hattenberger | 02 September 2020, 08:29:54 UTC | [ocaml] iter on correct target name | 04 September 2020, 12:37:10 UTC |
| ba931c0 | xp31 | 01 September 2020, 14:19:06 UTC | [fc_rotor] fix include and use python3 | 04 September 2020, 12:37:10 UTC |
| 06cb3e4 | Gautier Hattenberger | 21 August 2020, 13:52:09 UTC | [actuator] add dummy file for simulation with dshot driver | 04 September 2020, 12:37:10 UTC |
| 7e34121 | Gautier Hattenberger | 21 August 2020, 13:44:03 UTC | [natnet] fix timestamp scale to have ms | 04 September 2020, 12:37:10 UTC |
| a528672 | Gautier Hattenberger | 21 August 2020, 13:40:01 UTC | [traffic] fix scaling of position of AC_INFO messages | 04 September 2020, 12:37:10 UTC |
| 206216c | Gautier Hattenberger | 21 August 2020, 13:36:15 UTC | [server] protect SETTING callback from failure (Hashtbl.find) | 04 September 2020, 12:37:10 UTC |
| 002ac9f | Gautier Hattenberger | 04 September 2020, 11:48:51 UTC | [board] add tawaki v1.1 board file (#2574) factorize code with v1.0 | 04 September 2020, 11:48:51 UTC |
| 2c535d7 | OpenUAS | 04 September 2020, 11:11:47 UTC | Add sensor for ranging with IO is PWM (#2575) Co-authored-by: Open UAS <noreply@openuas.org> | 04 September 2020, 11:11:47 UTC |
| 6ed4c3c | jellewestenberger | 28 August 2020, 14:39:26 UTC | changes after testday 28-08 | 28 August 2020, 14:39:26 UTC |
| 79db939 | Ewoud Smeur | 28 August 2020, 13:36:53 UTC | [FIX] Forgot to change name to indi_gains (#2573) | 28 August 2020, 13:36:53 UTC |
| a1b2d0b | Ewoud Smeur | 25 August 2020, 21:25:16 UTC | INDI code cleanup Renaming confusing variables Fixing rate interface | 26 August 2020, 17:32:39 UTC |
| 733ddb0 | Ewoud Smeur | 25 August 2020, 19:17:53 UTC | fixing tudelft_gazebo_models | 26 August 2020, 17:32:39 UTC |
| 7db8673 | Rohan | 25 August 2020, 15:10:46 UTC | [NOT FINAL] - forgot declaring stabilization_rate_indi_cmd in .h - v2 | 26 August 2020, 17:32:39 UTC |
| a43ebbf | Rohan | 25 August 2020, 15:06:21 UTC | [NOT FINAL] - forgot declaring stabilization_rate_indi_cmd in .h | 26 August 2020, 17:32:39 UTC |
| f5292d3 | Rohan | 25 August 2020, 15:04:17 UTC | [NOT FINAL] - Solving on how to get gazebo files from previous commit | 26 August 2020, 17:32:39 UTC |
| d2eac7c | Rohan | 25 August 2020, 14:58:35 UTC | [NOT FINAL] - Made changes after meeting Ewoud | 26 August 2020, 17:32:39 UTC |
| 55b5736 | Rohan | 25 August 2020, 10:35:26 UTC | small changes before meeting Ewoud | 26 August 2020, 17:32:39 UTC |
| fb9bb3e | Rohan | 21 August 2020, 22:52:12 UTC | solved compilation errors - need to make function to check both indi attitude and indi rate controllers | 26 August 2020, 17:32:39 UTC |
| 85cf72a | Rohan | 21 August 2020, 21:03:22 UTC | New changes - _calc_cmd function receives angular accelerations - yet far from final, still needs to be discussed | 26 August 2020, 17:32:39 UTC |
| c49d724 | Rohan | 20 August 2020, 10:10:26 UTC | Still doesn't compile | 26 August 2020, 17:32:39 UTC |
| 7908895 | Rohan | 20 August 2020, 08:19:52 UTC | Added changes asked by Gautier | 26 August 2020, 17:32:39 UTC |
| 6f9b7f7 | Rohan | 19 August 2020, 13:03:52 UTC | Function definitions added | 26 August 2020, 17:32:39 UTC |
| eaf9020 | Rohan | 19 August 2020, 12:18:41 UTC | Improving indi rate interface | 26 August 2020, 17:32:39 UTC |
| 45cc035 | Rohan | 16 August 2020, 09:41:19 UTC | [INDI Rate Stabilization] - Added new function to set *rpy rates. My guidance module still needs to be reviewed. | 26 August 2020, 17:32:39 UTC |
| 0203ebe | Rohan | 15 August 2020, 09:30:54 UTC | [INDI Rate Control] - Done (Needs to be checked/verified/validated) | 26 August 2020, 17:32:39 UTC |
| 6ad7fa9 | Gautier Hattenberger | 26 August 2020, 14:15:24 UTC | Fix settings in log (#2569) * [log] add the latest generated settings if available to log file This way, the exact order of the settings used during the flight might be available. The only false case would be to start a server, rebuild and aircraft with different parameters or target, then flash and start the plane. In this case, there is no guarantee that the information is correct. However, this is the best we can do, since we can't know when starting the server with which target the aircraft will be used. close #2563 * [fix] use correct FP dumping tool for replay | 26 August 2020, 14:15:24 UTC |
| ab5d6ba | jellewestenberger | 24 August 2020, 15:20:03 UTC | use thrust from altcontroller in bangbangprediction, towards high-gain PID | 24 August 2020, 15:20:03 UTC |
| 7e6095e | Jelle Westenberger | 24 August 2020, 10:07:48 UTC | checkpoint | 24 August 2020, 10:07:48 UTC |
| a3645e2 | Tom van Dijk | 21 August 2020, 14:51:51 UTC | Module for transparent control of external GPIOs (#2564) * GCC wrap example * Rename pca95x4 to pca95xx * Fix softi2c_spin hanging Suspected cause is sys_time_usleep hanging when called from SPI, because interrupts are disabled. But not confirmed. Adding LED code fixes the hang, so cannot test. Co-authored-by: Tom van Dijk <tomvand@users.noreply.github.com> | 21 August 2020, 14:51:51 UTC |
| 5d1609f | jellewestenberger | 21 August 2020, 13:35:43 UTC | implemented and tested complementary filter | 21 August 2020, 13:35:43 UTC |
| 1fd1866 | jellewestenberger | 21 August 2020, 09:56:08 UTC | Added experimental complementary filter for speed approximation. + Fixed an error in calculating Ty | 21 August 2020, 09:56:08 UTC |
| 5b634a9 | Ewoud Smeur | 17 August 2020, 16:23:38 UTC | some improvements of the README (#2565) | 17 August 2020, 16:23:38 UTC |
| 5dfb6f2 | Gautier Hattenberger | 17 August 2020, 16:21:39 UTC | [fix] handle more exceptions when parsing conf (#2562) it is currently crashing the server when their is an error in the conf files | 17 August 2020, 16:21:39 UTC |
| 7dff606 | Hector Garcia de Marina | 15 August 2020, 18:52:49 UTC | Merge pull request #2567 from OpenUAS/fix_for_gspeed_spiking_issue Fix for gspeed spiking issue #2566 | 15 August 2020, 18:52:49 UTC |
| 42fb2d8 | Open UAS | 15 August 2020, 14:25:33 UTC | Fix for gspeed spiking issue #2566 | 15 August 2020, 14:25:33 UTC |
| 0837c7b | jellewestenberger | 10 August 2020, 11:07:19 UTC | pitch second bug fixed and tested | 10 August 2020, 11:07:19 UTC |
| 78780aa | jellewestenberger | 09 August 2020, 12:55:05 UTC | fixed error in sign corrections (not tested yet) | 09 August 2020, 12:55:05 UTC |
| 9091c1f | jellewestenberger | 07 August 2020, 16:14:08 UTC | changes after 07-08-20 extended flightplan to include saturation angles. Also improved the yaw behavior in the flightplan | 07 August 2020, 16:14:08 UTC |
| 89927fb | jellewestenberger | 06 August 2020, 20:18:05 UTC | fixed merge conflict | 06 August 2020, 20:18:05 UTC |
| a3b9a3b | jellewestenberger | 06 August 2020, 20:07:15 UTC | changes testday 06-08-20 - added max speed to altitude controller \n - added moving average filter to gps measurements of vx,vy,vz \n - fixed error in converting to velocity frame in bangbang.c\n - made end conditions of optimizing while loop more strict (now continues until t_s-t_s_old <2*dt) \n - changed flightplan to reset to first gate when ENDGATE type gate is reached (no longer required to change array size when MAX_GATES is defined larger than needed) | 06 August 2020, 20:07:15 UTC |
| 51fffb9 | Jelle Westenberger | 04 August 2020, 14:00:27 UTC | fix previous commit | 04 August 2020, 14:00:27 UTC |
| 70dce26 | Jelle Westenberger | 04 August 2020, 13:58:16 UTC | fixed compensation measurement logging issue | 04 August 2020, 13:58:16 UTC |
| 281023d | jellewestenberger | 04 August 2020, 12:02:19 UTC | fixed mistake in updating t_total when in transition | 04 August 2020, 12:02:19 UTC |
| 71be5a6 | jellewestenberger | 03 August 2020, 15:41:13 UTC | changes of test 03-08-20 | 03 August 2020, 15:41:13 UTC |
| c71e2f2 | jellewestenberger | 02 August 2020, 21:24:25 UTC | added transition measurement and force braking during transition | 02 August 2020, 21:24:25 UTC |
| 2ae834f | alexandre bustico | 31 July 2020, 16:23:34 UTC | Fix dshot and dma (#2552) * dshot : driver that contain dma buffer should be in a non cached memory section * dshot, dma : dma buffer must be in a volatile array * esc_dshot and dma : fix dma burst condition for activation * esc_dshot and dma : fix volatile missing in declaration * lower adc and dma priority to preserve dshot timing * remove unnecessary volatile declaration for dma buffer * esc_dshot : replace frame + 4 sync bits by : 2 sync bits + frame + 2 syncs bits : in order to fix malformed frame in case of DMA latency | 31 July 2020, 16:23:34 UTC |
| 0adde37 | jellewestenberger | 31 July 2020, 14:13:37 UTC | added flightplans for interim demo's | 31 July 2020, 14:13:37 UTC |
| 5843d97 | jellewestenberger | 30 July 2020, 14:06:29 UTC | fixed filter | 30 July 2020, 14:06:29 UTC |
| 03350bb | Fabien-B | 28 July 2020, 14:45:46 UTC | Sphinx doc (#2558) * [Doc] Adds doc about imu congiguration and fix some doc. * [doc] Edit quick start doc. * [Doc] Add "interfacing with Paparazzi" page. * [Doc] Fix radio conf doc. * [doc] Adds warning about out-of-date doc. Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr> | 28 July 2020, 14:45:46 UTC |
| b629fc1 | jellewestenberger | 28 July 2020, 13:48:07 UTC | bangbang now stable for pitch saturation and roll second in earth X-direction something goes wrong when using bangbang towards the negative X earth axis | 28 July 2020, 13:48:07 UTC |
| 7caad9c | jellewestenberger | 27 July 2020, 19:02:58 UTC | debugging changes based on flighttest 23-07-20 not tested in flight yet | 27 July 2020, 19:02:58 UTC |
| 3b4ce82 | Ewoud Smeur | 27 July 2020, 13:35:26 UTC | Cyclone guidance code (#2533) | 27 July 2020, 13:35:26 UTC |
| de22fb1 | Gautier Hattenberger | 27 July 2020, 10:29:34 UTC | [rotorcraft] split arming code definition from autopilot (#2550) the arming states are currently defined in autopilot_static.h, which is not compatible with the use of generated autopilot | 27 July 2020, 10:29:34 UTC |
| c53756b | Gautier Hattenberger | 27 July 2020, 10:28:51 UTC | [effectiveness] module and tool to log and process control effectiveness (#2551) | 27 July 2020, 10:28:51 UTC |
| af382fa | Hector Garcia de Marina | 25 July 2020, 13:08:21 UTC | unit instead of value (#2557) | 25 July 2020, 13:08:21 UTC |
| ed8dd8f | jellewestenberger | 23 July 2020, 14:42:29 UTC | checkpoint testday 23-07 | 23 July 2020, 14:42:29 UTC |
| f3e39f4 | jellewestenberger | 22 July 2020, 18:38:09 UTC | prepared LOG creation for test + mitigated some warnings | 22 July 2020, 18:38:09 UTC |
| 1508a18 | jellewestenberger | 21 July 2020, 14:52:56 UTC | Retuned altitude controller + implemented new flightplan | 21 July 2020, 14:52:56 UTC |
| 6801cd0 | jellewestenberger | 20 July 2020, 20:20:25 UTC | checkpoint before new flightplan approach | 20 July 2020, 20:20:25 UTC |
| d047a9b | Ralph R. Schmidt | 17 July 2020, 16:53:28 UTC | StereoWedgeBug (#2555) * First comit of clean branch * Added new drone airframe files (xml and model folder) for gazebo * Renamed sdf file for bebop drone with stereo cams * Added custom configuration and control panel files On branch stereoCamerasNewDrone Changes to be committed: new file: conf/userconf/tudelft/ralphthesis2020_conf.xml new file: conf/userconf/tudelft/ralphthesis2020_control_panel.xml * Added new files necessary for a new bebop model with stereo vision On branch stereoCamerasNewDrone Changes to be committed: new file: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml new file: conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml modified: conf/simulator/gazebo/airframes/bebop_w_stereo_cams.xml modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/model.config modified: conf/userconf/tudelft/ralphthesis2020_conf.xml * Replaced cameras on bebop (front + down) with a stereo setup On branch stereoCamerasNewDrone Changes to be committed: modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf * Solved low resolution in left camera On branch stereoCamerasNewDrone Changes to be committed: modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf * Created new module "wedgebu" and added it to the airframe "bebop_ralphthesis2020_stereo.xml" Also, used "make" to create tool for creating modules On branch wedgeBug Your branch is up to date with 'origin/wedgeBug'. Changes to be committed: modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml new file: conf/modules/wedgebug.xml modified: conf/userconf/tudelft/ralphthesis2020_conf.xml new file: sw/airborne/modules/wedgebug/wedgebug.c new file: sw/airborne/modules/wedgebug/wedgebug.h new file: sw/tools/create_module/create_module_ui.py new file: sw/tools/create_module/datalink_ui.py new file: sw/tools/create_module/event_ui.py modified: sw/tools/create_module/files_create.py new file: sw/tools/create_module/init_ui.py new file: sw/tools/create_module/periodic_ui.py * Added functions to copy images from left and right camera to global variables On branch wedgeBug Your branch is ahead of 'origin/wedgeBug' by 1 commit. Changes to be committed: modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml modified: conf/modules/wedgebug.xml modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf modified: sw/airborne/modules/wedgebug/wedgebug.c * Added function to compare individual pixels of images types (image_t) * Tried to figure out why the C++ Mat object of the left gray pixels looks different to the left image * A rough implementation and proof of the copy function (note: copy buf entries by incrementing pointer) Changes to be committed: deleted: Color_Image.jpg modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml deleted: merged_stereo_image.jpg modified: sw/airborne/modules/wedgebug/wedgebug.c modified: sw/airborne/modules/wedgebug/wedgebug.h modified: sw/airborne/modules/wedgebug/wedgebug_opencv.cpp modified: sw/airborne/modules/wedgebug/wedgebug_opencv.h * Finalized 1) image merging function for YY image and 2) function for saving gray images using openCV * Created C++ function to create and return disparity image. Also changed gazebo world. * 1) Added FPS like controlls for drone, using Xbox controller. 2) Added cropping image functionality of block matching function. * SBM can take 16 bit images now, save function uses an image_t struct and a new type called "IMAGE_OPENCV_DISP" was added, specifically for OpenCV disparity images. * Added openCV dependent openin and closing functions * Added 1) openCV dependent dilation and sobel operation functions, 2) 3d point structure to image.h 3) Loop in wedebug.c for findin edge point closest to target. * Added functions to convert world coordinates to camera coordinates (turned out to be a wrong implementation. Next commit will be the correct implementation) * Added functions to convert world to agent to camera coordinates (and vice versa) * Cleaned up coordinate conversion functions * 1. Created new world for drone testing, 2. Created new waytpoints for drone testing, 4. Created state machine template in module 5. Debugged the "SBM_OCV" function 6. Filled in the state for "Initial position", "Move to start", "Start position" and "Goal reached" 7. Started to fill in the state "Move to goal" 8. Created function to get median distance of object in front ("median_disparity_to_point") 9. Created function to determine angle between drone and goal point ("heading_towards_waypoin") 10. Cleaned up code, removed non-essential variables (especially images) and added new variables. * Converted edge detection algorithm into a function and cleaned code more. Also created more global variables. * Added draft approach for "EDGE_DETECTION" * Quick save * First draft of code. The robot can evade a board in its way and reach the goal. Also increase periodic loop speed to 15 hz to counter the fast turning of the drone * Included code for measuring metrics and displaying them. Also, cleaned the code some more. * Cleaned code, added comments to describe code and variables and got rid of bug in function calculating heading direction. * Removed bug in POSITION_EDGE state, where a new holding point was not set, after an obstacle was encountered. Also added various shapes (with birck texture) for testing. * Added more shapes for experiment and added settings to change in GCS * Changed camera settings to mimic those of Mathies et al. 2014. The drone can now avoid the standard metal board and the brick wall (type 2 2 x 2 meters)! * Implemented state machine for control modes. * Simplified code * Cleaned code * Added a flag to detect changes in the navigation mode used * Merged background processes under the condition that the state machine is running in certain state * Debugged time measurement of total time (metric 1) * Cleaned code * MAde debug options state number independent (i.e. they have been renamed to include the name of the state and not the number) * Remove states: POSITION_INITIAL, MOVE_TO_START and POSITION_START from finite state machine. Also all associate variables have been removed. * Changed "NUMER_OF_STATES" to "NUMBER_OF_STATES". Also increased "max_obstacle_confidence" from 3 to 5, to avoid fake obstacle detection. * Added metric measurement when in direct flight. * Added aluminum bar as object for goal marker and creted button for drone to move to start position and another button for drone to start the experiment. In the current example the drone goes around a 2x2 meter wall. * Added saving flag and functions for report (in c and cpp file) * Added median kernel dimensions as options in settings * Made unused waypoints invisible in the GCS * Added two more objects for investigation (with a larger hole for the drone to fly through). Also fine tuned the code. * Commit before change of depth image. * Added 16 bit background processes for greater precision. Also change some funciton in C++ file to better handle 16bit images * Using depht works, but its not fine tuned and code is messy. * Ibligatory commit so that I can checkout a different branch. * Added depth image on which edge detection is now based on (used to be based on disparity). It works relatively ok with all shapes investigated. * A save after the experiments for the first repor thave been finalized. * After demonstration * Added code to toggle between p2DWedgeBug and p3DWedgeBug. * Removed original files that were created during the previous merge process. * Added background processes that works with a 16 bit disparity image (i.e. more precise distance measurement) * Made finite state machine more readable. Also refined find_best_edge coordinates2 function. Additionally, added function to got from image place coordinates to camera coordinate using depth as input. Lastly, depth is now measured in cm when considerring the thresholds. * Successfully integrated edge search over depth image instead of disparity image (tested in direct control mode only). Next step is to implement this for the guided mode. * Addressed bug: The baseline used by the drone model was not the same as in the c file. This has been changed such that the baseline in the drone model now resembles the one in the c file. By addressing this bug of the Bug algorithm the drone can now judge distances accurately. This in turn results in the drone being able to accurately avoid the wall (2mxm) obstacle. * Changed flight plan to start experiment atuomatically. * Just a checkpoint * Added tree models. * Removed non used objects from world file. * Reverted back to opencv_bebop * Reverted back to original files for push to master * Added new shapes for experimentation * Deleted blacklisted * Cleaned code before push * Added missing varibales and added declarations. * Run style bash script and renamed image enum name (IMAGE_INT16) * Corrected typos and delted unused control panel config file. | 17 July 2020, 16:53:28 UTC |
| de3858c | Gautier Hattenberger | 16 July 2020, 11:44:06 UTC | Fix modules and telemetry freq (#2553) * [generator] set prescaler at run/compile time for modules * [generator] fix freq for periodic and cleaning * [datalink] fix freq in datalink modules extra_dl and mavlink | 16 July 2020, 11:44:06 UTC |
| b6b62e7 | jellewestenberger | 15 July 2020, 14:04:34 UTC | added simple rotation compensation support [NOT TESTED IN FLIGHT] | 15 July 2020, 14:04:34 UTC |
| a91ed27 | Tom van Dijk | 15 July 2020, 09:45:46 UTC | VL53L1X I2C level (#2554) * Set vl53l1x default i2c level to 2V8 (instead of 1V8) Co-authored-by: Tom van Dijk <tomvand@users.noreply.github.com> | 15 July 2020, 09:45:46 UTC |
| eeac31e | Mohammad Jafar Mashhadi | 13 July 2020, 23:01:36 UTC | Added try...except to be more safe after pprzlink api changes. (#2548) * Updated pprzlink library to the latest version * Added try...except to crazyradio2ivy.py to be safer after pprzlink API changes. paparazzi/pprzlink#117 * Updated request messages with the new pprzlink API * Added a #noqa comment so linters won't remove the seemingly unused import. * Updated the guided_mode_example.py to have a wait timeout. | 13 July 2020, 23:01:36 UTC |
| 4575375 | Gautier Hattenberger | 07 July 2020, 13:24:44 UTC | [conf] cleaning some airframe files for CI builds (#2547) mostly by moving modules from 'modules' to 'firmware' section, which should be done in all airframe files now. | 07 July 2020, 13:24:44 UTC |
| 1d966d1 | Tom van Dijk | 07 July 2020, 12:49:09 UTC | FIX softI2C marking transaction complete before stop bit (#2549) Fixed an error in the softi2c state machine that marked transactions as success/failed before the stop bit was sent, causing potential deadlocks when softi2c blocking functions are called in a tight loop. Co-authored-by: Tom van Dijk <tomvand@users.noreply.github.com> | 07 July 2020, 12:49:09 UTC |
