[paparazzi-commits] [paparazzi/paparazzi] e436d7: [autopilot] merge AP and FBW in normal operation (...

[Gautier Hattenberger]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: e436d78c84e03985c076a1f4dcc4108094d0e939
      
https://github.com/paparazzi/paparazzi/commit/e436d78c84e03985c076a1f4dcc4108094d0e939
  Author: Gautier Hattenberger <gautier.hattenberger@enac.fr>
  Date:   2022-03-10 (Thu, 10 Mar 2022)

  Changed paths:
    M conf/abi.xml
    M conf/airframes/examples/separate_fbw_ap.xml
    M conf/autopilot/rotorcraft_autopilot.xml
    M conf/autopilot/rover.xml
    M conf/autopilot/rover_holonomic.xml
    M conf/boards/apogee_1.0_chibios.makefile
    M conf/boards/chimera_1.0.makefile
    M conf/boards/crazyflie_2.1.makefile
    M conf/boards/holybro_kakute_f7.makefile
    M conf/boards/matek_f765_wing.makefile
    M conf/boards/nucleo144_f767zi.makefile
    M conf/boards/tawaki_common.makefile
    M conf/modules/actuators.xml
    M conf/modules/actuators_dummy.xml
    M conf/modules/boards/apogee_1.0_chibios.xml
    M conf/modules/boards/chimera_1.0.xml
    A conf/modules/boards/crazyflie_2.1.xml
    A conf/modules/boards/matek_f765_wing.xml
    A conf/modules/boards/nucleo144_f767zi.xml
    A conf/modules/boards/tawaki_1.0.xml
    A conf/modules/boards/tawaki_1.1.xml
    M conf/modules/datalink_common.xml
    M conf/modules/distributed_circular_formation.xml
    M conf/modules/firmwares/fixedwing.xml
    M conf/modules/firmwares/rotorcraft.xml
    M conf/modules/firmwares/rover.xml
    A conf/modules/gps_intermcu.xml
    A conf/modules/hard_fault_recovery.xml
    R conf/modules/intermcu_can.xml
    R conf/modules/intermcu_spi.xml
    M conf/modules/intermcu_uart.xml
    M conf/modules/mcu.xml
    M conf/modules/meteo_france_DAQ.xml
    M conf/modules/module.dtd
    M conf/modules/radio_control_cc2500_frsky.xml
    A conf/modules/radio_control_common.xml
    M conf/modules/radio_control_datalink.xml
    M conf/modules/radio_control_hott.xml
    A conf/modules/radio_control_intermcu.xml
    M conf/modules/radio_control_ppm.xml
    M conf/modules/radio_control_sbus.xml
    M conf/modules/radio_control_sbus_dual.xml
    M conf/modules/radio_control_spektrum.xml
    M conf/modules/radio_control_superbitrf_rc.xml
    M conf/modules/rssi.xml
    M conf/modules/stabilization_adaptive_fw.xml
    M conf/modules/stabilization_attitude_fw.xml
    M conf/modules/system_core.xml
    M conf/modules/targets/fbw.xml
    M conf/modules/targets/hitl.xml
    M conf/modules/targets/nps.xml
    M conf/modules/targets/sim.xml
    M conf/modules/telemetry_bluegiga.xml
    M conf/modules/telemetry_intermcu.xml
    M conf/modules/telemetry_secure_common.xml
    M conf/modules/telemetry_superbitrf.xml
    M conf/modules/telemetry_transparent.xml
    M conf/modules/telemetry_transparent_frsky_x.xml
    M conf/modules/telemetry_transparent_gec.xml
    M conf/modules/telemetry_transparent_udp.xml
    M conf/modules/telemetry_transparent_usb.xml
    M conf/modules/telemetry_w5100.xml
    M conf/modules/telemetry_xbee_api.xml
    M conf/modules/traffic_info.xml
    M conf/userconf/OPENUAS/openuas_all_ac.xml
    R conf/userconf/OPENUAS/openuas_obc2014_conf.xml
    M sw/airborne/arch/sim/modules/radio_control/spektrum_arch.c
    M sw/airborne/arch/sim/modules/radio_control/spektrum_arch.h
    M sw/airborne/arch/sim/sim_ap.c
    M sw/airborne/autopilot.c
    M sw/airborne/autopilot.h
    M sw/airborne/firmwares/fixedwing/autopilot_firmware.c
    M sw/airborne/firmwares/fixedwing/autopilot_firmware.h
    M sw/airborne/firmwares/fixedwing/autopilot_generated.c
    M sw/airborne/firmwares/fixedwing/autopilot_static.c
    M sw/airborne/firmwares/fixedwing/autopilot_utils.h
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
    M sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
    R sw/airborne/firmwares/fixedwing/main.c
    R sw/airborne/firmwares/fixedwing/main_ap.c
    R sw/airborne/firmwares/fixedwing/main_ap.h
    R sw/airborne/firmwares/fixedwing/main_chibios.c
    R sw/airborne/firmwares/fixedwing/main_chibios.h
    R sw/airborne/firmwares/fixedwing/main_fbw.c
    R sw/airborne/firmwares/fixedwing/main_fbw.h
    A sw/airborne/firmwares/fixedwing/main_recovery.c
    A sw/airborne/firmwares/fixedwing/main_recovery.h
    M sw/airborne/firmwares/fixedwing/nav.c
    M sw/airborne/firmwares/fixedwing/nav.h
    M sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
    M sw/airborne/firmwares/rotorcraft/autopilot_static.c
    R sw/airborne/firmwares/rotorcraft/main.c
    R sw/airborne/firmwares/rotorcraft/main.h
    R sw/airborne/firmwares/rotorcraft/main_ap.c
    R sw/airborne/firmwares/rotorcraft/main_ap.h
    R sw/airborne/firmwares/rotorcraft/main_chibios.c
    R sw/airborne/firmwares/rotorcraft/main_chibios.h
    R sw/airborne/firmwares/rotorcraft/main_fbw.c
    R sw/airborne/firmwares/rotorcraft/main_fbw.h
    M sw/airborne/firmwares/rotorcraft/rotorcraft_datalink.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
    M sw/airborne/firmwares/rover/autopilot_rc_helpers.h
    R sw/airborne/firmwares/rover/main_ap.c
    R sw/airborne/firmwares/rover/main_ap.h
    R sw/airborne/firmwares/rover/main_chibios.c
    R sw/airborne/firmwares/rover/main_chibios.h
    A sw/airborne/main_ap.c
    A sw/airborne/main_ap.h
    A sw/airborne/main_bare.c
    A sw/airborne/main_bare.h
    A sw/airborne/main_chibios.c
    A sw/airborne/main_chibios.h
    A sw/airborne/main_fbw.c
    A sw/airborne/main_fbw.h
    M sw/airborne/mcu.c
    M sw/airborne/modules/actuators/actuators.c
    M sw/airborne/modules/actuators/actuators.h
    M sw/airborne/modules/airborne_ant_track/airborne_ant_track.c
    M sw/airborne/modules/cam_control/cam.c
    M sw/airborne/modules/cam_control/cam.h
    M sw/airborne/modules/cam_control/cam_roll.c
    M sw/airborne/modules/cam_control/point.c
    M sw/airborne/modules/com/generic_com.c
    M sw/airborne/modules/core/abi_common.h
    M sw/airborne/modules/core/abi_sender_ids.h
    M sw/airborne/modules/core/commands.c
    M sw/airborne/modules/core/commands.h
    M sw/airborne/modules/core/rc_settings.c
    M sw/airborne/modules/datalink/datalink.c
    M sw/airborne/modules/datalink/datalink.h
    A sw/airborne/modules/datalink/intermcu_dl.c
    A sw/airborne/modules/datalink/intermcu_dl.h
    M sw/airborne/modules/datalink/telemetry.c
    M sw/airborne/modules/datalink/telemetry_common.h
    M sw/airborne/modules/digital_cam/dc_shoot_rc.c
    M sw/airborne/modules/digital_cam/servo_cam_ctrl.c
    M sw/airborne/modules/display/max7456.c
    M sw/airborne/modules/gas_engine/gas_engine_idle_trim.c
    A sw/airborne/modules/gps/gps_intermcu.c
    A sw/airborne/modules/gps/gps_intermcu.h
    M sw/airborne/modules/ins/ins_arduimu_basic.c
    R sw/airborne/modules/intermcu/inter_mcu.c
    R sw/airborne/modules/intermcu/inter_mcu.h
    M sw/airborne/modules/intermcu/intermcu.h
    M sw/airborne/modules/intermcu/intermcu_ap.c
    M sw/airborne/modules/intermcu/intermcu_ap.h
    M sw/airborne/modules/intermcu/intermcu_fbw.c
    M sw/airborne/modules/intermcu/intermcu_fbw.h
    R sw/airborne/modules/intermcu/link_mcu.h
    R sw/airborne/modules/intermcu/link_mcu_can.c
    R sw/airborne/modules/intermcu/link_mcu_can.h
    R sw/airborne/modules/intermcu/link_mcu_spi.c
    R sw/airborne/modules/intermcu/link_mcu_spi.h
    R sw/airborne/modules/intermcu/link_mcu_usart.c
    R sw/airborne/modules/intermcu/link_mcu_usart.h
    M sw/airborne/modules/nav/nav_drop.c
    M sw/airborne/modules/nav/nav_drop.h
    M sw/airborne/modules/radio_control/cc2500_frsky/cc2500_paparazzi.c
    M sw/airborne/modules/radio_control/cc2500_frsky/cc2500_paparazzi.h
    R sw/airborne/modules/radio_control/dummy.c
    R sw/airborne/modules/radio_control/dummy.h
    M sw/airborne/modules/radio_control/hott.c
    M sw/airborne/modules/radio_control/hott.h
    M sw/airborne/modules/radio_control/hott_common.c
    M sw/airborne/modules/radio_control/hott_common.h
    M sw/airborne/modules/radio_control/ppm.c
    M sw/airborne/modules/radio_control/ppm.h
    M sw/airborne/modules/radio_control/radio_control.c
    M sw/airborne/modules/radio_control/radio_control.h
    M sw/airborne/modules/radio_control/rc_datalink.c
    M sw/airborne/modules/radio_control/rc_datalink.h
    A sw/airborne/modules/radio_control/rc_intermcu.c
    A sw/airborne/modules/radio_control/rc_intermcu.h
    M sw/airborne/modules/radio_control/sbus.c
    M sw/airborne/modules/radio_control/sbus.h
    M sw/airborne/modules/radio_control/sbus_common.c
    M sw/airborne/modules/radio_control/sbus_common.h
    M sw/airborne/modules/radio_control/sbus_dual.c
    M sw/airborne/modules/radio_control/sbus_dual.h
    M sw/airborne/modules/radio_control/spektrum.c
    M sw/airborne/modules/radio_control/spektrum.h
    M sw/airborne/modules/radio_control/spektrum_radio.h
    M sw/airborne/modules/radio_control/superbitrf_rc.c
    M sw/airborne/modules/radio_control/superbitrf_rc.h
    M sw/airborne/modules/switching/auto1_commands.c
    R sw/airborne/modules/telemetry/telemetry_intermcu.h
    R sw/airborne/modules/telemetry/telemetry_intermcu_ap.c
    R sw/airborne/modules/telemetry/telemetry_intermcu_ap.h
    R sw/airborne/modules/telemetry/telemetry_intermcu_fbw.c
    M sw/airborne/modules/uav_recovery/uav_recovery.c
    M sw/airborne/test/modules/test_radio_control.c
    M sw/lib/ocaml/module.ml
    M sw/simulator/nps/nps_autopilot_fixedwing.c
    M sw/simulator/nps/nps_autopilot_rotorcraft.c
    M sw/tools/generators/gen_modules.ml
    M tests/modules/generated/airframe.h
    M tests/modules/generated/modules.h
    M tests/modules/generated/periodic_telemetry.h

  Log Message:
  -----------
  [autopilot] merge AP and FBW in normal operation (#2828)

There is no longer a separated FBW in normal operation for fixedwing,
only a single AP task/thread.
The code for main_ap is now factorized for all firmwares.
Dual MCU support (separated AP and FBW) is still possible, based on the
rotorcraft implementation and intermcu pprzlink messages. Relevant code
is also factorized and available in all firmwares.
The recovery mode (in case of hard fault) is still available for
fixedwing with ChibiOS implementation.
Only intermcu_uart is supported at the moment. Other options (spi/can)
might be added back in the future if really used.

Some other evolution are made:
- in the radio_control and actuators modules, now integrated to AP and
using ABI messages
- the message parsing on datalink event (defined in module) that is now
properly filtering the messages based on their class and allowing to
have multiple callbacks for the same message
- cleaning the part of code that were using the old intermcu fixedwing
interface