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paparazzi / pprzlink

Message and communication library for the Paparazzi UAV system
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new oneloop messages plus changes to structure of other messages #189

Closed tmldeponti closed 1 month ago

tmldeponti commented 2 months ago

I want to merge the latest developments of the oneloop controller for the rotating wing drone into master. I start from some updates to the messages:

  1. New Actuator State message. This message on the short terms solves my need of logging both the pprz cmd to the actuator as well as the "reconstructed" state of the actuators. On the long term I plan to write a module which will fuse knowledge of the dynamics of the actuators as well as readings to have a more precise reconstruction of the state of the actuator. It would then be nice to have this module be the source of the actuator states for all controllers rather than reconstructing the state in each controller. Probably this new actuator state msg can be merged with the message ACTUATORS.
  2. I have restructured the effectiveness matrix message to stream separately the stabilization and guidance values. I have done this because the message can become too large when the number of actuators increases (alike the rotating wingdrone). The new split messages should also better match the more conventional controller structures.
  3. I removed from STAB_ATTITUDE the reconstructed state of the actuators as this is done now in the ACTUATOR_STATE message. I have added the possibility of streaming angular jerk references and desired attitude angles. The desired attitude angles are the inputs to the attitude reference model which generates the attitude references.
  4. I have added the msg RC_6CH so that one can make better use of the extra buttons and switches in RCs like the Radio Master TX12
fvantienen commented 1 month ago

@gautierhattenberger are you ok with the changes?