Merge branch 'bitcraze:master' into relative-yaw-traj

Kconfig

@@ -66,21 +66,21 @@ choice
 
 config PLATFORM_CF2
     bool "Build for CF2"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_MPU9250_LPS25H
 
 config PLATFORM_BOLT
     bool "Build for Bolt"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_BMI088_SPI
 
 config PLATFORM_TAG
     bool "Build for the roadrunner"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
 
 config PLATFORM_FLAPPER
     bool "Build for Flapper Nimble+"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_BMI088_SPI
 
 endchoice
@@ -125,15 +125,15 @@ config SENSORS_MPU9250_LPS25H
     bool "Support for mpu9250 and lps25h sensors"
     default n
     help
-        Include support for the Bosch bmi088 inertial and bmp388
+        Include support for the Bosch bmi088 inertial and bmp3xx
         barometric sensors
 
-config SENSORS_BMI088_BMP388
-    bool "Support for bmi088 and bmp388 sensors"
+config SENSORS_BMI088_BMP3XX
+    bool "Support for bmi088 and bmp3xx sensors"
     default n
     select SENSORS_BMI088_I2C
     help
-        Include support for the Bosch bmi088 inertial and bmp388
+        Include support for the Bosch bmi088 inertial and bmp3xx
         barometric sensors
 
 config SENSORS_BOSCH
@@ -142,19 +142,19 @@ config SENSORS_BOSCH
 
 config SENSORS_IGNORE_BAROMETER_FAIL
     bool "Ignore failure from barometer"
-    depends on SENSORS_BMI088_BMP388
+    depends on SENSORS_BMI088_BMP3XX
     default n
 
 config SENSORS_BMI088_SPI
     bool "Support for SPI communincation with the bmi088 sensor"
-    depends on SENSORS_BMI088_BMP388
+    depends on SENSORS_BMI088_BMP3XX
     default n
     help
         Include support using SPI with the Bosch bmi088 inertial sensor
 
 config SENSORS_BMI088_I2C
     bool "Support for I2C communincation with the bmi088 sensor"
-    depends on SENSORS_BMI088_BMP388
+    depends on SENSORS_BMI088_BMP3XX
     default n
     help
         Include support using I2C with the Bosch bmi088 inertial sensor

bindings/cffirmware.i

@@ -19,6 +19,7 @@
 #include "num.h"
 #include "controller_mellinger.h"
 #include "controller_brescianini.h"
+#include "controller_lee.h"
 #include "power_distribution.h"
 #include "axis3fSubSampler.h"
 #include "outlierFilterTdoa.h"
@@ -35,6 +36,7 @@
 %include "imu_types.h"
 %include "controller_mellinger.h"
 %include "controller_brescianini.h"
+%include "controller_lee.h"
 %include "power_distribution.h"
 %include "axis3fSubSampler.h"
 %include "outlierFilterTdoa.h"

bindings/setup.py

@@ -41,6 +41,7 @@
     "src/modules/src/controller/attitude_pid_controller.c",
     "src/modules/src/controller/controller_mellinger.c",
     "src/modules/src/controller/controller_brescianini.c",
+    "src/modules/src/controller/controller_lee.c",
     "src/utils/src/pid.c",
     "src/utils/src/filter.c",
     "src/utils/src/num.c",

docs/development/create_platform.md

@@ -27,17 +27,17 @@ choice
 
 config PLATFORM_CF2
     bool "Build for CF2"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_MPU9250_LPS25H
 
 config PLATFORM_BOLT
     bool "Build for Bolt"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_BMI088_SPI
 
 config PLATFORM_TAG
     bool "Build for the roadrunner"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
 
 endchoice
 ```
@@ -53,21 +53,21 @@ choice
 
 config PLATFORM_CF2
     bool "Build for CF2"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_MPU9250_LPS25H
 
 config PLATFORM_BOLT
     bool "Build for Bolt"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_BMI088_SPI
 
 config PLATFORM_TAG
     bool "Build for the roadrunner"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
 
 config PLATFORM_RINCEWIND
     bool "Build for the Rincewind platform"
-    select SENSORS_BMI088_BMP388
+    select SENSORS_BMI088_BMP3XX
     select SENSORS_BMI088_SPI
 
 endchoice
@@ -116,7 +116,7 @@ static platformConfig_t configs[] = {
   {
     .deviceType = "CB10",
     .deviceTypeName = "Rincewind",
-    .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
+    .sensorImplementation = SensorImplementation_bmi088_spi_bmp3xx,
     .physicalLayoutAntennasAreClose = false,
     .motorMap = motorMapBoltBrushless,
   }

docs/development/kbuild.md

@@ -30,7 +30,7 @@ CONFIG_PLATFORM_CF2=y
 # Sensor configuration
 #
 CONFIG_SENSORS_MPU9250_LPS25H=y
-CONFIG_SENSORS_BMI088_BMP388=y
+CONFIG_SENSORS_BMI088_BMP3XX=y
 [...]
 ```
 

docs/development/openocd_gdb_debugging.md

@@ -181,7 +181,7 @@ Inside of the file, replace everything with the following:
                 "request": "launch",
                 "type": "cortex-debug",
                 "device": "STM32F405",
-                "svdFile": "STM32F405.svd",
+                "svdFile": "${workspaceRoot}/tools/debug/STM32F405.svd",
                 "servertype": "openocd",
                 "configFiles": ["interface/stlink-v2.cfg", "target/stm32f4x.cfg"],
                 "runToMain": true,
@@ -210,10 +210,6 @@ Inside of the file, replace everything with the following:
 > **Note: Debugging thread aware**
 > To debug thread aware you need to add ```"rtos": "FreeRTOS"``` to your configuration in the launch.json file - however, while this can be very handy we also occasionally experienced some issues with setting breakpoints while using this configuration.
 
-#### Installing the SVD file
-
-Now for the SVD file: just download it from [here](STM32F405.svd) and into the firmware root dir, or download it from the ST website (search for `svd stm32f4`). Make sure it has the exact name of ```STM32F405.svd``` !
-
 ### Debug!
 
 After setup, go to the 'Run and Debug' tab of VS Code (on the left sidebar, the icon with the little bug next to the play button), select the chip you want to debug from the drop-down menu at the top of the pane, and hit the play button!

docs/development/unit_testing.md

@@ -44,6 +44,16 @@ used in the unit tests as well. In some cases unit tests must be disabled based
 if a particular file is not included in the build. A unit test file can be disabled based on configuration by using
 an annotation like this:
 
+## AddressSanitizer
+If you are facing issues running the unit tests locally and ending up in an endless loop of
+
+        Addressanitizer:DEADLY SIGNAL
+
+This is due to a incompatibility between TSan vesion and the high number of entropy bits used for randomization in recent Ubuntu versions.
+Solutions for this (until a fix is in place) is to run the tests with the toolbelt or temporarily bump your systems entropy bits down to 28 using; 
+
+`sudo sysctl vm.mmap_rnd_bits=28`
+
 ``` c
 // @IGNORE_IF_NOT CONFIG_DECK_LIGHTHOUSE
 ```

docs/functional-areas/sensor-to-control/controllers.md

@@ -6,10 +6,12 @@ page_id: controllers
 
 Once the [state estimator](/docs/functional-areas/sensor-to-control/state_estimators.md) have outputed the current (estimated) situation of the crazyflie in position velocity and attitude, it is time for the controllers to keep it that way or to move the crazyflie into a new position based on a setpoint. This is an important part of the stabilization system in the crazyflie.
 
- * [Overview of Control](#overview-of-control)
- * [Cascaded PID controller](#cascaded-pid-controller)
- * Mellinger Controller (TO DO)
- * INDI Controller (TO DO)
+- [Overview of control](#overview-of-control)
+- [Cascaded PID controller](#cascaded-pid-controller)
+- [Mellinger Controller](#mellinger-controller)
+- [INDI Controller](#indi-controller)
+- [Brescianini Controller](#brescianini-controller)
+- [Lee Controller](#lee-controller)
 
 ## Overview of control
 There are four levels to control in the Crazyflie:
@@ -55,3 +57,51 @@ Check the implementation details in `attitude_pid_controller.c` in `attitudeCont
 The most outer-loop of the cascaded PID controller is the position and velocity controller. It receives position or velocity input from a commander which are handled, since it is possible to set in the variable `setpoint_t` which  stabilization mode to use `stab_mode_t` (either position:  `modeAbs` or `modeVelocity`). These can be found in `stabilizer_types.h`. The control loop runs at 100 Hz.
 
 Check the implementation details in `position_controller_pid.c` in `positionController()` and  `velocityController()`.
+
+## Mellinger Controller
+
+Conceptually the Mellinger controller is similar to the cascaded PID controller, i.e. there is an attitude controller (running at 250 Hz) and a position controller (running at 100 Hz). The main difference to the cascaded PID controller is how errors are defined and how the position error is translated into desired attitude setpoints. Like the cascaded PID, this is a reactive geometric controller that uses the mathematical property of differential flatness. Details are given in the following scientific publication:
+
+```
+Daniel Mellinger, and Vijay Kumar
+Minimum snap trajectory generation and control for quadrotors
+IEEE International Conference on Robotics and Automation (ICRA), 2011
+https://doi.org/10.1109/ICRA.2011.5980409
+```
+
+The implementation follows the paper, also for the names of the variables. The main difference is the addition of I-gains and a D-term for the angular velocity.
+
+## INDI Controller
+
+This control algorithm is the Incremental Nonlinear Dynamic Inversion (INDI) controller. Details are given in the following scientific publication:
+
+```
+Ewoud J. J. Smeur, Qiping Chu, and Guido C. H. E. de Croon
+Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles
+JCGD 2015
+https://doi.org/10.2514/1.G001490
+```
+
+## Brescianini Controller
+
+Details of this controller are in the following scientific publication:
+
+```
+Dario Brescianini, Markus Hehn, and Raffaello D'Andrea
+Nonlinear quadrocopter attitude control
+Technical Report ETHZ, 2013
+https://doi.org/10.3929/ethz-a-009970340
+```
+
+## Lee Controller
+
+Conceptually the Lee controller is similar to the cascaded PID controller, i.e. there is an attitude controller (running at 250 Hz) and a position controller (running at 100 Hz). The main difference to the cascaded PID controller is how errors are defined and how the position error is translated into desired attitude setpoints. Like the cascaded PID, this is a reactive geometric controller that uses the mathematical property of differential flatness. Compared to the Mellinger controller, a different angular velocity error and higher-order terms in the attitude controller are used. Details including a stability proof are given in the following scientific publication:
+
+```
+Taeyoung Lee, Melvin Leok, and N. Harris McClamroch
+Geometric Tracking Control of a Quadrotor UAV on SE(3)
+CDC 2010
+https://doi.org/10.1109/CDC.2010.5717652
+```
+
+The implementation follows the paper, also for the names of the variables. The main difference is the addition of I-gains, which are not needed for the theoretical proof, but helpful on the practical system.

src/deck/drivers/interface/lpsTwrTag.h

@@ -21,12 +21,7 @@
 #define LPS_TWR_LPP_PAYLOAD 4
 
 #define LPS_TWR_SEND_LPP_PAYLOAD 1
-
-#ifdef LOCODECK_NR_OF_ANCHORS
-#define LOCODECK_NR_OF_TWR_ANCHORS LOCODECK_NR_OF_ANCHORS
-#else
 #define LOCODECK_NR_OF_TWR_ANCHORS 8
-#endif
 
 extern uwbAlgorithm_t uwbTwrTagAlgorithm;
 

src/deck/drivers/src/lpsTwrTag.c

@@ -619,84 +619,68 @@ LOG_GROUP_STOP(twr)
  * Log group for distances (ranges) to anchors aquired by Two Way Ranging (TWR)
  */
 LOG_GROUP_START(ranging)
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 0)
 /**
  * @brief Distance to anchor 0 [m]
  */
 LOG_ADD(LOG_FLOAT, distance0, &state.distance[0])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 1)
 /**
  * @brief Distance to anchor 1 [m]
  */
 LOG_ADD(LOG_FLOAT, distance1, &state.distance[1])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 2)
 /**
  * @brief Distance to anchor 2 [m]
  */
 LOG_ADD(LOG_FLOAT, distance2, &state.distance[2])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 3)
 /**
  * @brief Distance to anchor 3 [m]
  */
 LOG_ADD(LOG_FLOAT, distance3, &state.distance[3])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 4)
 /**
  * @brief Distance to anchor 4 [m]
  */
 LOG_ADD(LOG_FLOAT, distance4, &state.distance[4])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 5)
 /**
  * @brief Distance to anchor 5 [m]
  */
 LOG_ADD(LOG_FLOAT, distance5, &state.distance[5])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 6)
 /**
  * @brief Distance to anchor 6 [m]
  */
 LOG_ADD(LOG_FLOAT, distance6, &state.distance[6])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 7)
 /**
  * @brief Distance to anchor 7 [m]
  */
 LOG_ADD(LOG_FLOAT, distance7, &state.distance[7])
-#endif
-
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 0)
+/**
+ * @brief ASL of anchor 0 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure0, &state.pressures[0])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 1)
+/**
+ * @brief ASL of anchor 1 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure1, &state.pressures[1])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 2)
+/**
+ * @brief ASL of anchor 2 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure2, &state.pressures[2])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 3)
+/**
+ * @brief ASL of anchor 3 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure3, &state.pressures[3])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 4)
+/**
+ * @brief ASL of anchor 4 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure4, &state.pressures[4])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 5)
+/**
+ * @brief ASL of anchor 5 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure5, &state.pressures[5])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 6)
+/**
+ * @brief ASL of anchor 6 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure6, &state.pressures[6])
-#endif
-#if (LOCODECK_NR_OF_TWR_ANCHORS > 7)
+/**
+ * @brief ASL of anchor 7 [m]
+ */
 LOG_ADD(LOG_FLOAT, pressure7, &state.pressures[7])
-#endif
 LOG_GROUP_STOP(ranging)

src/drivers/bosch/interface/bmp3.h

@@ -57,6 +57,7 @@
 /* Header includes */
 #include "bmp3_defs.h"
 
+extern uint8_t bmp3_chip_id;
 
 /*!
  *  @brief This API is the entry point.