added all components

paparazzi · Jun 13, 2023 · 1e6bacf · 1e6bacf
1 parent 328d5ca
commit 1e6bacf
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Showing 10 changed files with 121 additions and 189 deletions.
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
diff --git a/.vscode/launch.json b/.vscode/launch.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/conf/airframes/tudelft/flamewheel_indi_new_alloc.xml b/conf/airframes/tudelft/flamewheel_indi_new_alloc.xml
@@ -22,7 +22,11 @@
       <module name="pprzlog"/>
       <module name="logger" type="sd_chibios"/>
       <module name="flight_recorder"/>
-      <module name="logger" type="control_effectiveness"/>
+      <module name="logger" type="control_effectiveness">
+       <define name="LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS" value="TRUE"/>
+      </module>
+
+      <define name="STABILIZATION_ATTITUDE_INDI_LOG_ALLOC_EXEC_TIME" value="true"/>
 
       <define name="SDLOG_AUTO_FLUSH_PERIOD" value="1" unit="s"/>
       <define name="SDLOG_START_DELAY" value="5" unit="s"/>
@@ -86,7 +90,7 @@
     -->
     <module name="stabilization" type="indi">
       <configure name="INDI_OUTPUTS" value="4"/>
-      <configure name="INDI_NUM_ACTUATOTS" value="4"/>
+      <configure name="INDI_NUM_ACT" value="6"/>
     </module>
     <!--
     <module name="stabilization" type="indi"/>
@@ -294,16 +298,14 @@
     <define name="CTL_ALLOC_COND_BOUND" value="1e5"/>
   </section>
 
+<!--
   <section name="actuator_sizes">
     <define name="INDI_OUTPUTS" value="4"/>
     <define name="INDI_NUM_ACT" value="6"/>
     <define name="AS_N_V" value="4"/>
     <define name="AS_N_U" value="6"/>
   </section>
-
-  <section name="CONTROL_EFFECTIVENESS" prefix="LOGGER_CONTROL_EFFECTIVENESS_">
-    <define name="ACTUATORS" value="TRUE"/>
-  </section>
+-->
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
     <define name="HOVER_KP" value="283"/>

diff --git a/conf/flight_plans/tudelft/control_alloc_planar.xml b/conf/flight_plans/tudelft/control_alloc_planar.xml
diff --git a/conf/flight_plans/tudelft/control_alloc_planar_yaw.xml b/conf/flight_plans/tudelft/control_alloc_planar_yaw.xml
@@ -30,7 +30,7 @@
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
       <exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
+      <stay vmode="climb" climb="nav.climb_vspeed" wp="CLIMB"/>
     </block>
     <block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
       <stay wp="STDBY"/>
@@ -52,7 +52,7 @@
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
       <exception cond="0.10 @GT GetPosAlt()" deroute="Landed"/>
       <!--<call_once fun="NavStartDetectGround()"/>-->
-      <stay climb="nav_descend_vspeed" vmode="climb" wp="HOME"/>
+      <stay climb="nav.descend_vspeed" vmode="climb" wp="HOME"/>
     </block>
     <block name="Landed">
       <call_once fun="NavKillThrottle()"/>