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px4_add_board(
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PLATFORM posix
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VENDOR px4
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MODEL sitl
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ROMFSROOT px4fmu_common
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LABEL rtps
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TESTING
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DRIVERS
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#barometer # all available barometer drivers
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#batt_smbus
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camera_capture
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camera_trigger
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#differential_pressure # all available differential pressure drivers
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#distance_sensor # all available distance sensor drivers
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gps
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#imu # all available imu drivers
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#magnetometer # all available magnetometer drivers
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#protocol_splitter
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pwm_out_sim
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rpm/rpm_simulator
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#telemetry # all available telemetry drivers
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tone_alarm
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#uavcan
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MODULES
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airship_att_control
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airspeed_selector
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attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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flight_mode_manager
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fw_att_control
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fw_pos_control_l1
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gyro_calibration
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gyro_fft
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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replay
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rover_pos_control
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sensors
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#sih
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simulator
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temperature_compensation
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uuv_att_control
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Uuv position control extension (#16688)
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
* Commit for the Integration of a position controller for the a Underwater vehicle.
This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw.
Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0.
Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction.
In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module.
Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw).
Currently not solved/missing:
- Problem with gazebo model(propeller moving chaotically).
- Mixer correct gazebo vs real life (has to be tested in the future)
- correct integration in uuv.apps (when choose which module)
- very basic controller chosen (could be improved a lot in the future)
* Remove error caused by unused variables and a different build error
* added better description of the parameter. Additionally the group is changed.
* added better description of the parameter. Additionally the group is changed.
Fixed bug about parameter
* Added EOF to the files.
* Removed parameter for direct position control for safety reasons.
* small bugfix
4 years ago
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uuv_pos_control
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vmount
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vtol_att_control
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SYSTEMCMDS
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#dumpfile
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dyn
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esc_calib
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led_control
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#mft
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mixer
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motor_ramp
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motor_test
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#mtd
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#nshterm
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param
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perf
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pwm
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sd_bench
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shutdown
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system_time
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tests # tests and test runner
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#top
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topic_listener
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tune_control
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uorb
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ver
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work_queue
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EXAMPLES
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dyn_hello # dynamically loading modules example
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fake_gps
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fake_imu
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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#hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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work_item
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)
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set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
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set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
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set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
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set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
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# If the environment variable 'replay' is defined, we are building with replay
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# support. In this case, we enable the orb publisher rules.
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set(REPLAY_FILE "$ENV{replay}")
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if(REPLAY_FILE)
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message(STATUS "Building with uorb publisher rules support")
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add_definitions(-DORB_USE_PUBLISHER_RULES)
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message(STATUS "Building without lockstep for replay")
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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else()
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set(ENABLE_LOCKSTEP_SCHEDULER yes)
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endif()
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