Merge branch 'pands_at_home' into 'master'

PandS at home mostly ready

See merge request !16

.gitignore

@@ -17,8 +17,25 @@ dfall_ws/src/CMakeLists.txt
 
 TAGS
 build-*
-Crazyflie.db
 
 # For LaTeX files in the wiki
 wiki/latex/*
 !wiki/latex/*.tex
+
+# NOTES:
+# > To keep track of configuration-type files that
+#   are part of the repository, BUT for whcih
+#   changes are NOT tracked.
+# > These files are "skipped" from tracking using
+#   the following syntax:
+#   >> git update-index --skip-worktree <FILENAME>
+# > The files that should be "skipped" are:
+#   >> dfall_ws/src/dfall_pkg/launch/Config.sh
+#   >> dfall_ws/src/dfall_pkg/param/Crazyflie.db
+# > To return these files to normal tracking use
+#   the following syntax:
+#   >> git update-index --no-skip-worktree <FILENAME>
+# > "Skipping" is a setting local to your copy of the
+#   repository because ".git ignoring" a file already
+#   in the repository does NOT stop changes from being
+#   tracked

crazyflie-firmware/README.md

@@ -6,7 +6,7 @@ https://github.com/bitcraze/crazyflie-firmware
 However, it is easiest to locate the official realease versions of the firmware from here:<br>
 https://github.com/bitcraze/crazyflie-release/releases
 
-The complete instructions for applying the patch are given separately for each firmware version.
+The complete instructions for applying the patch are given separately for each firmware version (currently only one firmware version).
 
 
 
@@ -38,9 +38,11 @@ To apply the patch, use the following sequence of commands:
 `git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git`<br>
 `cd crazyflie-firmware`<br>
 `git checkout e27cd170b7eb8be7ed1cbbc9f5622b469d335d97`<br>
+Note that it is also possible to checkout this commit using the commit tag, i.e., using `git checkout 2020.02`
+
 
 **Step 2:** Apply the patch:<br>
-`git apply <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2019-09/firmware_modifications_for_version_2019-09.patch`<br>
+`git apply <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-20/firmware_modifications_for_version_2020-20.patch`<br>
 
 Now the repository is ready to compile. To do this, first make sure that you have
 installed the necessary toolchain as described above ([Install Compilation Toolchain](#install-compilation-toolchain)).
@@ -63,47 +65,4 @@ The pre-compiled binary files are already included in this repository. To update
 `<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/cf2-2020.02_withDfallPatch.bin`<br>
 
 To update the firmware of both the main processor and the nrf processor, select the file:<br>
-`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/firmware-cf2-2020.02_withDfallPatch.zip`<br>
-
-
-
-
-
-## Firware Version 2017-06
-
-The hash of the exact commit to which this patch applies is:<br>
-`f4d21213d7ce37d7ed7338fad0f9a94a96cec191`
-As commited on Mon Feb 3 15:04:52 2020 +0100
-
-To apply the patch, use the following sequence of commands:
-
-**Step 1:** Clone the repository and checkout the appropriate commit:<br>
-`git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git`<br>
-`cd crazyflie-firmware`<br>
-`git checkout f4d21213d7ce37d7ed7338fad0f9a94a96cec191`<br>
-
-**Step 2:** Apply the patch:<br>
-`git apply <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2017-06/firmware_modifications_for_version_2017-06.patch`<br>
-
-Now the repository is ready to compile. To do this, first make sure that you have
-installed the necessary toolchain as described above ([Install Compilation Toolchain](#install-compilation-toolchain)).
-
-**Step 3:** In the `crazyflie-firmware` folder where you applied the patch, compile the firmware using the following command:<br>
-`make PLATFORM=CF2`
-
-If everything is successful, you will see something like this:<br>
-
-<img src="success_building_for_version_2017-06.png" style="width: 400px;"/> <br><br>
-
-This should have created the binary file `cf2.bin`.
-
-**Step 4:** upload the binary to the crazyflie processor by following the instructions given here:<br>
-https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw<br>
-Instructions are also given in the wiki of this repository under:
-`/wiki/setup.md#firmware`
-
-The pre-compiled binary files are already included in this repository. To update the firmware of just the main processor, select the file:
-`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2017-06/cf2-2017.06_withDfallPatch.bin`<br>
-
-To update the firmware of both the main processor and the nrf processor, select the file:<br>
-`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2017-06/firmware-cf2-2017.06_withDfallPatch.zip`<br>
\ No newline at end of file
+`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/firmware-cf2-2020.02_withDfallPatch.zip`<br>
\ No newline at end of file

crazyflie-firmware/crazyflie-firmware-version-2017-06/firmware_modifications_for_version_2017-06.patch

-diff --git a/src/modules/interface/attitude_controller.h b/src/modules/interface/attitude_controller.h
-index ad23ef0..f79b7d1 100644
---- a/src/modules/interface/attitude_controller.h
-+++ b/src/modules/interface/attitude_controller.h
-@@ -63,6 +63,11 @@ void attitudeControllerResetRollAttitudePID(void);
-  */
- void attitudeControllerResetPitchAttitudePID(void);
- 
-+/**
-+ * Reset controller yaw attitude PID
-+ */
-+void attitudeControllerResetYawAttitudePID(void);
-+
- /**
-  * Reset controller roll, pitch and yaw PID's.
-  */
-diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
-index 418cc0b..30d031b 100644
---- a/src/modules/interface/stabilizer_types.h
-+++ b/src/modules/interface/stabilizer_types.h
-@@ -144,6 +144,10 @@ typedef struct control_s {
-   int16_t pitch;
-   int16_t yaw;
-   float thrust;
-+  uint16_t cmd1;
-+  uint16_t cmd2;
-+  uint16_t cmd3;
-+  uint16_t cmd4;
- } control_t;
- 
- typedef enum mode_e {
-@@ -152,12 +156,24 @@ typedef enum mode_e {
-   modeVelocity
- } stab_mode_t;
- 
-+typedef enum pps_mode_e {
-+  modeDisabled = 0,
-+  modeMotors,
-+  modeRate,
-+  modeAngle
-+} pps_mode_t;
-+
- typedef struct setpoint_s {
-   uint32_t timestamp;
- 
-   attitude_t attitude;
-   attitude_t attitudeRate;
-   float thrust;
-+  pps_mode_t pps_mode;
-+  uint16_t cmd1;
-+  uint16_t cmd2;
-+  uint16_t cmd3;
-+  uint16_t cmd4;
-   point_t position;
-   velocity_t velocity;
-   bool velocity_body;
-diff --git a/src/modules/src/attitude_pid_controller.c b/src/modules/src/attitude_pid_controller.c
-index 8b5f4aa..f16288f 100644
---- a/src/modules/src/attitude_pid_controller.c
-+++ b/src/modules/src/attitude_pid_controller.c
-@@ -142,9 +142,14 @@ void attitudeControllerResetRollAttitudePID(void)
- 
- void attitudeControllerResetPitchAttitudePID(void)
- {
--    pidReset(&pidRoll);
-+    pidReset(&pidPitch);
- }
- 
-+void attitudeControllerResetYawAttitudePID(void)
-+{
-+    pidReset(&pidYaw);
-+}
-+
- void attitudeControllerResetAllPID(void)
- {
-   pidReset(&pidRoll);
-diff --git a/src/modules/src/controller_pid.c b/src/modules/src/controller_pid.c
-index 0e5e62d..516315a 100644
---- a/src/modules/src/controller_pid.c
-+++ b/src/modules/src/controller_pid.c
-@@ -51,9 +51,13 @@ void stateController(control_t *control, setpoint_t *setpoint,
-   }
- 
-   if (RATE_DO_EXECUTE(POSITION_RATE, tick)) {
--    positionController(&actuatorThrust, &attitudeDesired, setpoint, state);
-+      if(setpoint->pps_mode != modeMotors && setpoint->pps_mode != modeRate && setpoint->pps_mode != modeAngle)
-+      {
-+          positionController(&actuatorThrust, &attitudeDesired, setpoint, state);
-+      }
-   }
- 
-+
-   if (RATE_DO_EXECUTE(ATTITUDE_RATE, tick)) {
-     // Switch between manual and automatic position control
-     if (setpoint->mode.z == modeDisable) {
-@@ -63,7 +67,7 @@ void stateController(control_t *control, setpoint_t *setpoint,
-       attitudeDesired.roll = setpoint->attitude.roll;
-       attitudeDesired.pitch = setpoint->attitude.pitch;
-     }
--
-+    /* if everything is modeVelocity, skip this */
-     attitudeControllerCorrectAttitudePID(state->attitude.roll, state->attitude.pitch, state->attitude.yaw,
-                                 attitudeDesired.roll, attitudeDesired.pitch, attitudeDesired.yaw,
-                                 &rateDesired.roll, &rateDesired.pitch, &rateDesired.yaw);
-@@ -80,6 +84,12 @@ void stateController(control_t *control, setpoint_t *setpoint,
-       attitudeControllerResetPitchAttitudePID();
-     }
- 
-+    //added for PPSSafeController to make the Onboard Controller using the external YawRate. Pure speed controller, no position/500 small steps
-+    if (setpoint->mode.yaw == modeVelocity) {
-+      rateDesired.yaw = (-1) * setpoint->attitudeRate.yaw;
-+      attitudeControllerResetYawAttitudePID();
-+    }
-+
-     // TODO: Investigate possibility to subtract gyro drift.
-     attitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
-                              rateDesired.roll, rateDesired.pitch, rateDesired.yaw);
-@@ -100,19 +110,76 @@ void stateController(control_t *control, setpoint_t *setpoint,
-     control->thrust = actuatorThrust;
-   }
- 
--  if (control->thrust == 0)
-+  if(setpoint->pps_mode == modeMotors)
-   {
--    control->thrust = 0;
--    control->roll = 0;
--    control->pitch = 0;
--    control->yaw = 0;
--
--    attitudeControllerResetAllPID();
--    positionControllerResetAllPID();
--
--    // Reset the calculated YAW angle for rate control
--    attitudeDesired.yaw = state->attitude.yaw;
-+      control->roll = 0;
-+      control->pitch = 0;
-+      control->yaw = 0;
-+      control->cmd1 = setpoint->cmd1;
-+      control->cmd2 = setpoint->cmd2;
-+      control->cmd3 = setpoint->cmd3;
-+      control->cmd4 = setpoint->cmd4;
-+      if ((control->cmd1 == 0 && control->cmd2 == 0 && control->cmd3 == 0 && control->cmd4 == 0))
-+      {
-+          control->cmd1 = 0;
-+          control->cmd2 = 0;
-+          control->cmd3 = 0;
-+          control->cmd4 = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-+  }
-+  else if(setpoint->pps_mode == modeRate || setpoint->pps_mode == modeAngle)
-+  {
-+      control->cmd1 = setpoint->cmd1;
-+      control->cmd2 = setpoint->cmd2;
-+      control->cmd3 = setpoint->cmd3;
-+      control->cmd4 = setpoint->cmd4;
-+      if ((control->cmd1 == 0 && control->cmd2 == 0 && control->cmd3 == 0 && control->cmd4 == 0))
-+      {
-+          control->cmd1 = 0;
-+          control->cmd2 = 0;
-+          control->cmd3 = 0;
-+          control->cmd4 = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-   }
-+  else                          /* pps_mode == modeDisabled */
-+  {
-+      control->cmd1 = control->thrust;
-+      control->cmd2 = control->thrust;
-+      control->cmd3 = control->thrust;
-+      control->cmd4 = control->thrust;
-+      if (control->thrust == 0)
-+      {
-+          control->thrust = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-+  }
-+
- }
- 
- 
-diff --git a/src/modules/src/crtp_commander_generic.c b/src/modules/src/crtp_commander_generic.c
-index 993dead..4370101 100644
---- a/src/modules/src/crtp_commander_generic.c
-+++ b/src/modules/src/crtp_commander_generic.c
-@@ -34,6 +34,8 @@
- #include "num.h"
- #include "FreeRTOS.h"
- 
-+/* #include "motors.h" */
-+
- /* The generic commander format contains a packet type and data that has to be
-  * decoded into a setpoint_t structure. The aim is to make it future-proof
-  * by easily allowing the addition of new packets for future use cases.
-@@ -67,6 +69,9 @@ enum packet_type {
-   cppmEmuType       = 3,
-   altHoldType       = 4,
-   hoverType         = 5,
-+  PPSMotorsType     = 8,
-+  PPSRateType       = 9,
-+  PPSAngleType      = 10,
- };
- 
- /* ---===== 2 - Decoding functions =====--- */
-@@ -292,6 +297,152 @@ static void hoverDecoder(setpoint_t *setpoint, uint8_t type, const void *data, s
-   setpoint->velocity_body = true;
- }
- 
-+struct PPSMotorsPacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+} __attribute__((packed));
-+
-+static void PPSMotorsDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSMotorsPacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSMotorsPacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we dont use rate controller onboard either */
-+    setpoint->mode.roll = modeDisable;
-+    setpoint->mode.pitch = modeDisable;
-+    setpoint->mode.yaw = modeDisable;
-+
-+    setpoint->attitude.roll = 0;
-+    setpoint->attitude.pitch = 0;
-+    setpoint->attitude.yaw = 0;
-+    setpoint->attitudeRate.roll = 0;
-+    setpoint->attitudeRate.pitch = 0;
-+    setpoint->attitudeRate.yaw = 0;
-+
-+    /* update cmds */
-+
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeMotors;
-+}
-+
-+struct PPSRatePacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+    float roll_rate;
-+    float pitch_rate;
-+    float yaw_rate;
-+} __attribute__((packed));
-+
-+static void PPSRateDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSRatePacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSRatePacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we use rate controller onboard either */
-+    setpoint->mode.roll = modeVelocity;
-+    setpoint->mode.pitch = modeVelocity;
-+    setpoint->mode.yaw = modeVelocity;
-+
-+    setpoint->attitude.roll = 0;
-+    setpoint->attitude.pitch = 0;
-+    setpoint->attitude.yaw = 0;
-+    setpoint->attitudeRate.roll = values->roll_rate;
-+    setpoint->attitudeRate.pitch = values->pitch_rate;
-+    setpoint->attitudeRate.yaw = values->yaw_rate;
-+
-+    /* update cmds */
-+
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeRate;
-+}
-+
-+struct PPSAnglePacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+    float roll;
-+    float pitch;
-+    float yaw;
-+} __attribute__((packed));
-+
-+static void PPSAngleDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSAnglePacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSRatePacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we use position angle controller onboard */
-+    setpoint->mode.roll = modeAbs;
-+    setpoint->mode.pitch = modeAbs;
-+    setpoint->mode.yaw = modeAbs;
-+
-+    setpoint->attitude.roll = values->roll;
-+    setpoint->attitude.pitch = values->pitch;
-+    setpoint->attitude.yaw = values->yaw;
-+    setpoint->attitudeRate.roll = 0;
-+    setpoint->attitudeRate.pitch = 0;
-+    setpoint->attitudeRate.yaw = 0;
-+
-+    /* update cmds */
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeAngle;
-+}
-+
-  /* ---===== 3 - packetDecoders array =====--- */
- const static packetDecoder_t packetDecoders[] = {
-   [stopType]          = stopDecoder,
-@@ -300,6 +451,9 @@ const static packetDecoder_t packetDecoders[] = {
-   [cppmEmuType]       = cppmEmuDecoder,
-   [altHoldType]       = altHoldDecoder,
-   [hoverType]         = hoverDecoder,
-+  [PPSMotorsType]     = PPSMotorsDecoder,
-+  [PPSRateType]       = PPSRateDecoder,
-+  [PPSAngleType]      = PPSAngleDecoder,
- };
- 
- /* Decoder switch */
-diff --git a/src/modules/src/power_distribution_stock.c b/src/modules/src/power_distribution_stock.c
-index 0e66c0b..79d5f2c 100644
---- a/src/modules/src/power_distribution_stock.c
-+++ b/src/modules/src/power_distribution_stock.c
-@@ -76,18 +76,19 @@ void powerDistribution(const control_t *control)
-   #ifdef QUAD_FORMATION_X
-     int16_t r = control->roll / 2.0f;
-     int16_t p = control->pitch / 2.0f;
--    motorPower.m1 = limitThrust(control->thrust - r + p + control->yaw);
--    motorPower.m2 = limitThrust(control->thrust - r - p - control->yaw);
--    motorPower.m3 =  limitThrust(control->thrust + r - p + control->yaw);
--    motorPower.m4 =  limitThrust(control->thrust + r + p - control->yaw);
-+    motorPower.m1 = limitThrust(control->cmd1 - r + p + control->yaw);
-+    motorPower.m2 = limitThrust(control->cmd2 - r - p - control->yaw);
-+    motorPower.m3 =  limitThrust(control->cmd3 + r - p + control->yaw);
-+    motorPower.m4 =  limitThrust(control->cmd4 + r + p - control->yaw);
-+
-   #else // QUAD_FORMATION_NORMAL
--    motorPower.m1 = limitThrust(control->thrust + control->pitch +
-+    motorPower.m1 = limitThrust(control->cmd1 + control->pitch +
-                                control->yaw);
--    motorPower.m2 = limitThrust(control->thrust - control->roll -
-+    motorPower.m2 = limitThrust(control->cmd2 - control->roll -
-                                control->yaw);
--    motorPower.m3 =  limitThrust(control->thrust - control->pitch +
-+    motorPower.m3 =  limitThrust(control->cmd3 - control->pitch +
-                                control->yaw);
--    motorPower.m4 =  limitThrust(control->thrust + control->roll -
-+    motorPower.m4 =  limitThrust(control->cmd4 + control->roll -
-                                control->yaw);
-   #endif
- 
-diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
-index eccc709..6b9fcc3 100644
---- a/src/modules/src/stabilizer.c
-+++ b/src/modules/src/stabilizer.c
-@@ -130,7 +130,6 @@ static void stabilizerTask(void* param)
-     commanderGetSetpoint(&setpoint, &state);
- 
-     sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
--
-     stateController(&control, &setpoint, &sensorData, &state, tick);
- 
-     checkEmergencyStopTimeout();

crazyflie-firmware/crazyflie-firmware-version-2017-06/manifest.json

-{
-    "version": 1,
-    "subversion": 1,
-    "release": "2017.06",
-    "files": {
-        "cf2-2017.06_withDfallPatch.bin": {
-            "platform": "cf2",
-            "target": "stm32",
-            "type": "fw",
-            "release": "2017.06",
-            "repository": "crazyflie-firmware"
-        },
-        "cf2_nrf-2017.05.bin": {
-            "platform": "cf2",
-            "target": "nrf51",
-            "type": "fw",
-            "release": "2017.05",
-            "repository": "crazyflie2-nrf-firmware"
-        },
-        "cf1-2017.06.bin": {
-            "platform": "cf1",
-            "target": "stm32",
-            "type": "fw",
-            "release": "2017.06",
-            "repository": "crazyflie-firmware"
-        }
-    }
-}

dfall_ws/src/dfall_pkg/CMakeLists.txt

@@ -249,16 +249,20 @@ endif()
 
 add_message_files(
   FILES
-  UnlabeledMarker.msg
-  CrazyflieData.msg
-  ViconData.msg