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[Paparazzi-devel] Suggestions

From: antoine drouin
Subject: [Paparazzi-devel] Suggestions
Date: Fri, 6 Dec 2013 11:58:34 +0100

Hello world

I've been using Paparazzi's control laws (5.0.0) as benchmark and while doing so, a couple of things bugged me that i though i might share:

For rotorcraft, it wasn't too hard to isolate control laws except for minor details:
  sw/airborne/firmware/stabilization/stabilization_attitude_rc_setpoint.c pulls autopilot_mode, guidance_h_mode, transition_theta_offset
  USE_FMS is only used in sw/airborne/firmwares/rotorcraft/guidance/guidance_v and nowhere else, it could probably be removed

   sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c includes nav... that seems to be backward

For fixedwing, it was much harder, the weight of history is being heavily felt...
  firmwares/fixedwing/stabilization/stabilization_attitude.c includes both "autopilot.h" and CTRL_TYPE_H (which is... the type of vertical guidance and can be either  guidance_v.h,  guidance_v_n.h or energy_ctrl.h)

  firmwares/fixedwing/guidance/energy_control get its' accelerations directly from imu, maybe it would benefit from using the state interface
  it also uses "launch" and "kill_throttle" from autopilot.h. Shouldn't those be part of state? (at least launch, which is the airborne status of the vehicle and is called in_flight in the rotorcraft version)

I'll stop here for now. Let me know if you're interested in more



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