[paparazzi-commits] [paparazzi/paparazzi] 789437: [swarm] add formation control for rotorcraft (#224...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 789437978dfa28c12bfcea13e1b616b976b3f66d
      
https://github.com/paparazzi/paparazzi/commit/789437978dfa28c12bfcea13e1b616b976b3f66d
  Author: Gautier Hattenberger <address@hidden>
  Date:   2018-03-20 (Tue, 20 Mar 2018)

  Changed paths:
    M conf/abi.xml
    A conf/joystick/T1600M_ground.xml
    A conf/modules/fc_rotor.xml
    M conf/modules/guidance_indi.xml
    A conf/swarm/conf_2uav_rot.json
    A conf/swarm/conf_3uav_rot.json
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
    A sw/airborne/modules/fc_rotor/fc_rotor.c
    A sw/airborne/modules/fc_rotor/fc_rotor.h
    M sw/airborne/subsystems/abi_sender_ids.h
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/ground_segment/joystick/input2ivy.ml
    A sw/ground_segment/python/fc_rotor/fc_rotor.py
    A sw/ground_segment/python/fc_rotor/lib_rigid_formations.py
    M sw/ground_segment/python/natnet3.x/NatNetClient.py
    M sw/ground_segment/python/natnet3.x/natnet2ivy.py

  Log Message:
  -----------
  [swarm] add formation control for rotorcraft (#2246)

* [swarm] add formation control for rotorcraft

Based on Ewoud Smeur (INDI) and Hector Garcia de Marina (Formation
control) work. See
https://blog.paparazziuav.org/2017/12/02/pilot-a-super-rotorcraft
- several UAV can be control from the ground (using a joystick for
  instance) by sending proper acceleration setpoint to the INDI guidance
  controller
- configuration of the formation is done from a JSON file (2 example
  files provided)

Some extra changes:
- update accel from IMU in GPS passthrough INS
- add accel setpoint to ABI messages
- by to accel setpoint in INDI guidance
- send ground reference from natnet2ivy
- possibility to have a joystick labeled 'GCS' with input2ivy