Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Unifying firmware #19

Open
wants to merge 80 commits into
base: payload_pose_tracking
Choose a base branch
from
Open

Unifying firmware #19

wants to merge 80 commits into from

Conversation

Khaledwahba1994
Copy link
Collaborator

No description provided.

whoenig
whoenig requested changes Jan 3, 2023
View reviewed changes
bindings/cffirmware.i Outdated Show resolved Hide resolved
src/modules/src/controller_lee_payload.c Outdated Show resolved Hide resolved
src/modules/src/controller_lee_payload.c Show resolved Hide resolved
src/modules/src/controller_lee_payload.c Outdated Show resolved Hide resolved
src/modules/src/controller_lee_payload.c Outdated Show resolved Hide resolved
Khaledwahba1994 and others added 23 commits January 3, 2023 18:13
@Khaledwahba1994
Final test of unified firmware for simulation.
de36061
@Khaledwahba1994
Add the same changes if the actual firmware is running
f22ea58
@whoenig
fix compile error
6455960
@Khaledwahba1994
add workspace_2uav_1hp_rod
ae5d19d
@Khaledwahba1994
Merge branch 'unify-firmware' of https://github.com/IMRCLab/crazyflie…
a220a3d 
…-firmware into unify-firmware
@whoenig
set qdidot to zero
486bc00
@Khaledwahba1994
Adding firmare code and binding code for 2 uavs 1 hp with rod payload
b0809a2
@Khaledwahba1994
Merge branch 'unify-firmware' of https://github.com/IMRCLab/crazyflie…
a820be0 
…-firmware into unify-firmware
@Khaledwahba1994
Added the attachment points to the payload pos in the qp and in the c…
1822db8 
…ontroller
@Khaledwahba1994
logging Md
5987a70
@Khaledwahba1994
bug in the lengths computation for the rigid cases. Using qvrot inste…
6b5f8bd 
…ad of rot matrix
@whoenig
fix hyperplane nans
286ee6c
@Khaledwahba1994
shift the position error computation before adding the attachment point.
823986f
@Khaledwahba1994
Merge branch 'unify-firmware' of https://github.com/IMRCLab/crazyflie…
e1d26ea 
…-firmware into unify-firmware
@whoenig
fix usd parser
32d4194
@Khaledwahba1994
set Mdy to zero for cuboid case
3fa1866
@Khaledwahba1994
Merge branch 'unify-firmware' of https://github.com/IMRCLab/crazyflie…
ee7aa3c 
…-firmware into unify-firmware
@Khaledwahba1994
add cable states as logging variables
48192ff
@Khaledwahba1994
add logging variables
5e3c440
@whoenig
add math3d test
7f03d3c
@whoenig
working logging
1296162
@whoenig
add hyperplane qp
fd07ca7
@whoenig
add en_qdidot
85b8549
whoenig and others added 30 commits January 23, 2023 14:25
@whoenig
add Pinv as params
bff46dc
@whoenig
updated qps
999e615
@whoenig
add more detailed profiling information
a3280e9
@whoenig
add warm start caching
8196335
@whoenig
formation control
53517d0
@whoenig
separate alpha for v and w
9d2c435
@whoenig
increase stack
caa3f31
@whoenig
add k_q_limit
13279d7
@whoenig
fix random crashes (?)
623f183
@whoenig
improved start-up of QP
160a3a0
@whoenig
Lees integral gains (for Fd, Md only partially)
f847405
@whoenig
yaw improvements
9db2dc2
@whoenig
improved formation control options
8030e8b
@whoenig
firmware fixes
17ccb8e
@whoenig
new payload fixes
465b986
@whoenig
outstanding changes
2212582
@whoenig
add new setpoint for cable angles
d5e04f6
@Khaledwahba1994
add planned desired mu from cable angles
51d790b
@whoenig
update desCableAngles to match logic in crazyflie_cpp
4ddd03d
@Khaledwahba1994
fix cable assignment based on id
81e8c32
@Khaledwahba1994
remove wrong assignment
0026425
@Khaledwahba1994
Merge branch 'unify-firmware' into cable-vec-plan
c0f5421
@Khaledwahba1994
debug prints
b7cf8c0
@Khaledwahba1994
Merge pull request #21 from IMRCLab/cable-vec-plan
7f87fc6 
Cable vec plan
@whoenig
fix descableangles
dff1e49
@Khaledwahba1994
support desired formation for 3 cables
602f3d6
@Khaledwahba1994
remove comments and fix a typo
fc5bfcb
@Khaledwahba1994
Merge pull request #22 from IMRCLab:des-3cablesangles
fd9b9c9 
support desired formation for 3 cables
@Khaledwahba1994
add 2 uav case with rod for planned cable angles
a267710
@Khaledwahba1994
add one uav
c4516eb
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@whoenig whoenig Awaiting requested review from whoenig

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@Khaledwahba1994 @whoenig