[fix] cleanup make all conf airframes (#3127)

* cleanup all conf airframes * docs update
paparazzi · Oct 4, 2023 · db4c67d · db4c67d
1 parent 4c84866
commit db4c67d
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Showing 21 changed files with 73 additions and 71 deletions.
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffff7f7f0000"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/tag_tracking.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/tag_tracking.xml"
    gui_color="#3ce8d771db45"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
    gui_color="#c6d33e3ef958"
   />
   <aircraft

diff --git a/conf/airframes/ENAC/cyfoam.xml b/conf/airframes/ENAC/cyfoam.xml
@@ -84,7 +84,10 @@
     <module name="gps"           type="ublox">
       <configure name="GPS_BAUD" value="B115200"/>
     </module>
-    <module name="stabilization" type="indi"/>
+    <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
+    </module>
     <module name="guidance"      type="indi">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
       <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>

diff --git a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
@@ -46,7 +46,10 @@
       <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
     </module>
 
-    <module name="stabilization" type="indi"/>
+    <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4" />
+      <define name="WLS_N_V" value="4" />
+    </module>
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
       <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>

diff --git a/conf/airframes/ENAC/quadrotor/robobee.xml b/conf/airframes/ENAC/quadrotor/robobee.xml
@@ -44,7 +44,10 @@
       <configure name="GPS_BAUD" value="B115200"/>
     </module>
 
-    <module name="stabilization" type="indi"/>
+    <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4" />
+      <define name="WLS_N_V" value="4" />
+    </module>
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>

diff --git a/conf/airframes/ENAC/quadrotor/ulysse_indi.xml b/conf/airframes/ENAC/quadrotor/ulysse_indi.xml
@@ -48,7 +48,10 @@
       <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
     </module>
 
-    <module name="stabilization" type="indi"/>
+    <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4" />
+      <define name="WLS_N_V" value="4" />
+    </module>
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
       <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.03"/>

diff --git a/conf/airframes/tudelft/bebop_indi_actuators.xml b/conf/airframes/tudelft/bebop_indi_actuators.xml
@@ -34,6 +34,8 @@
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
       <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
     </module>
 
     <module name="geo_mag"/>

diff --git a/conf/airframes/tudelft/bebop_optitrack.xml b/conf/airframes/tudelft/bebop_optitrack.xml
@@ -18,6 +18,8 @@
     <module name="imu" type="bebop"/>
     <module name="gps" type="datalink"/>
     <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
       <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
     </module>
     <module name="ahrs" type="int_cmpl_quat">

diff --git a/conf/airframes/tudelft/cyfoam.xml b/conf/airframes/tudelft/cyfoam.xml
@@ -289,6 +289,8 @@
     </module>
     <module name="stabilization" type="indi">
       <define name="INDI_THRUST_ON_PITCH_EFF" value="23.0"/>
+      <define name="WLS_N_U" value="4" />
+      <define name="WLS_N_V" value="4" />
     </module>
     <module name="guidance"      type="indi_hybrid">
       <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>

diff --git a/conf/airframes/tudelft/disco_rotorcraft_indi.xml b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
@@ -56,7 +56,9 @@
     <module name="actuators" type="disco"/>
     <!--<module name="control" type="new"/>-->
     <module name="stabilization" type="indi">
-      <configure name="INDI_NUM_ACT" value="3"/>
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
+     <configure name="INDI_NUM_ACT" value="3"/>
     </module>
     <module name="guidance" type="indi_hybrid"/>
     <!--<module name="sonar_bebop">
@@ -81,13 +83,6 @@
     <axis name="YAW"      failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST"   value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"      value="@YAW"/>
-  </rc_commands>
-
   <section name="MIXER">
     <define name="AILEVON_AILERON_RATE" value="0.75"/>
     <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>

diff --git a/conf/airframes/tudelft/fan_demo.xml b/conf/airframes/tudelft/fan_demo.xml
@@ -20,6 +20,8 @@
     <module name="gps" type="datalink"/>
     <module name="stabilization" type="indi">
       <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
     </module>
     <module name="stabilization" type="rate_indi"/>
     <module name="ahrs" type="int_cmpl_quat">

diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
@@ -111,6 +111,7 @@
     <module name="stabilization" type="indi">
       <configure name="INDI_NUM_ACT" value="8"/>
       <define name="WLS_N_U" value="8"/>
+      <define name="WLS_N_V" value="4"/>
       <define name="TILT_TWIST_CTRL" value="TRUE"/>
     </module>
     <module name="stabilization" type="rate_indi"/>
@@ -214,13 +215,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE" />
-    <set command="ROLL" value="@YAW" />
-    <set command="PITCH" value="@PITCH/2" />
-    <set command="YAW" value="-@ROLL/4" />
-  </rc_commands>
-
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
     <!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->

diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
@@ -107,6 +107,7 @@
     <module name="stabilization" type="indi">
       <configure name="INDI_NUM_ACT" value="8"/>
       <define name="WLS_N_U" value="8"/>
+      <define name="WLS_N_V" value="4"/>
       <define name="TILT_TWIST_CTRL" value="TRUE"/>
     </module>
     <module name="stabilization" type="rate_indi"/>
@@ -195,13 +196,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE" />
-    <set command="ROLL" value="@YAW" />
-    <set command="PITCH" value="@PITCH/2" />
-    <set command="YAW" value="-@ROLL/4" />
-  </rc_commands>
-
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
     <!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->

diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
@@ -107,6 +107,7 @@
     <module name="stabilization" type="indi">
       <configure name="INDI_NUM_ACT" value="8"/>
       <define name="WLS_N_U" value="8"/>
+      <define name="WLS_N_V" value="4"/>
       <define name="TILT_TWIST_CTRL" value="TRUE"/>
     </module>
     <module name="stabilization" type="rate_indi"/>
@@ -195,13 +196,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE" />
-    <set command="ROLL" value="@YAW" />
-    <set command="PITCH" value="@PITCH/2" />
-    <set command="YAW" value="-@ROLL/4" />
-  </rc_commands>
-
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
     <!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->

diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
@@ -107,6 +107,7 @@
     <module name="stabilization" type="indi">
       <configure name="INDI_NUM_ACT" value="8"/>
       <define name="WLS_N_U" value="8"/>
+      <define name="WLS_N_V" value="4"/>
       <define name="TILT_TWIST_CTRL" value="TRUE"/>
     </module>
     <module name="stabilization" type="rate_indi"/>
@@ -195,13 +196,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE" />
-    <set command="ROLL" value="@YAW" />
-    <set command="PITCH" value="@PITCH/2" />
-    <set command="YAW" value="-@ROLL/4" />
-  </rc_commands>
-
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
     <!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->

diff --git a/conf/airframes/tudelft/splash4.xml b/conf/airframes/tudelft/splash4.xml
@@ -87,6 +87,8 @@
       <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
     </module> -->
     <module name="stabilization" type="indi">
+      <define name="WLS_N_U" value="4"/>
+      <define name="WLS_N_V" value="4"/>
       <!--define name="TILT_TWIST_CTRL" value="TRUE"/-->
     </module>
     <module name="stabilization" type="rate_indi"/>
@@ -135,13 +137,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE" />
-    <set command="ROLL" value="@ROLL" />
-    <set command="PITCH" value="@PITCH" />
-    <set command="YAW" value="@YAW" />
-  </rc_commands>
-
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <define name="TYPE" value="QUAD_X"/>
   </section>

diff --git a/conf/modules/stabilization_indi.xml b/conf/modules/stabilization_indi.xml
@@ -9,13 +9,17 @@
     <configure name="INDI_OUTPUTS" default="4"/>
     <configure name="INDI_NUM_ACT" default="4"/>
 
+    <define name="TILT_TWIST_CTRL" value="FALSE|TRUE" description="assume twist is slower than tilt and solve separately"/>
+
     <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
       <define name="SP_MAX_PHI"   value="45." description="max setpoint for roll angle" unit="deg"/>
       <define name="SP_MAX_THETA" value="45." description="max setpoint for pitch angle" unit="deg"/>
       <define name="SP_MAX_R"     value="90." description="max setpoint for yaw rate" unit="deg/s"/>
       <define name="DEADBAND_R"   value="250" description="deadband on yaw rate input"/>
     </section>
+
     <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+      <define name="ALLOCATION_PSEUDO_INVERSE" value="FALSE|TRUE" description="Master setting: leave false for WLS allocation, and use TRUE if not overactuated and no WLS"/>
       <define name="G1_ROLL" value="{20 , -20, -20 , 20 }" description="control effectiveness of every actuator on the roll axis"/>
       <define name="G1_PITCH" value="{14 , 14, -14 , -14 }" description="control effectiveness of every actuator on the pitch axis"/>
       <define name="G1_YAW" value="{-1, 1, -1, 1}" description="control effectiveness of every actuator on the yaw axis"/>
@@ -29,16 +33,20 @@
       <define name="REF_RATE_R" value="28.0" description="INDI gains linear controller"/>
       <define name="MAX_R" value="120.0" description="max yaw rate" unit="deg/s"/>
       <define name="FILT_CUTOFF" value="8.0" description="second order cutoff frequency for angular accelerations in Hz"/>
+      <define name="FILTER_RATES_SECOND_ORDER" value="FALSE|TRUE" description="use second order rate filters instead of first order"/>
       <define name="STABILIZATION_INDI_FILT_CUTOFF_P" value="20.0" description="First order cutoff freq for angular rate in Hz"/>
       <define name="STABILIZATION_INDI_FILT_CUTOFF_Q" value="20.0" description="First order cutoff freq for angular rate in Hz"/>
       <define name="STABILIZATION_INDI_FILT_CUTOFF_R" value="20.0" description="First order cutoff freq for angular rate in Hz"/>
       <define name="ESTIMATION_FILT_CUTOFF" value="8.0" description="second order cutoff parameter"/>
       <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}" description="actuator dynamics"/>
       <define name="ACT_IS_SERVO" value="{0,0,0,0}" description="1 for every actuator that is a servo"/>
+      <define name="ACT_IS_THRUSTER_X" value="{0,0,0,0}" description="1 for every actuator that is a thruster in the body-x direction"/>
       <define name="ACT_RATE_LIMIT" value="{9600,9600,9600,9600}" description="rate limit in PPRZ units per timestep (depends on control frequency)"/>
       <define name="ACT_PREF" value="{0.0, 0.0, 0.0, 0.0}" description="preferred (low energy) actuator value. Important when the system is over-determined!"/>
       <define name="USE_ADAPTIVE" value="FALSE|TRUE" description="enable adaptive gains"/>
       <define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
+      <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}" description="WLS control objective priorities: roll, pitch, thrust, yaw, thrust_x"/>
+      <define name="WLS_WU" value="{1, 1, 1, 1}" description="WLS actuator cost (size of INDI_NUM_ACT)"/>
     </section>
   </doc>
   <settings>

diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -392,7 +392,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="blue"
   />
   <aircraft
@@ -535,7 +535,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/fan_demo.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
@@ -702,6 +702,7 @@ struct StabilizationSetpoint guidance_indi_run_mode(bool in_flight UNUSED, struc
   }
 }
 
+#ifdef GUIDANCE_INDI_SPECIFIC_FORCE_GAIN
 /**
  * Filter the thrust, such that it corresponds to the filtered acceleration
  */
@@ -714,6 +715,8 @@ void guidance_indi_filter_thrust(void)
   update_butterworth_2_low_pass(&thrust_filt, thrust_act);
 }
 
+#endif
+
 /**
  * Low pass the accelerometer measurements to remove noise from vibrations.
  * The roll and pitch also need to be filtered to synchronize them with the