microsoft / frigatebird Goto Github PK

hi guys, are you interested in bringing the SilentWings SITL backend into ardupilot master? I'd be happy to look at a PR for that, or I could just copy what you've done.
I haven't tried silent wings myself yet, but I just saw the video from Marco. Looks really nice.

There are important files that Microsoft projects should all have that are not present in this repository. A pull request has been opened to add the missing file(s). When the pr is merged this issue will be closed automatically.

Microsoft teams can learn more about this effort and share feedback within the open source guidance available internally.

Merge this pull request

What can I do to help flush out waf build issues? Running Ubuntu / WSL on Windows 10 laptop, and everything of late in ArduPlane / ArduCopter is waf based. It's a bit of a step backwards in this ecosystem to have to use make. Also, hoping to fly Frigatebird code on latest ArduPlane master running on ChibiOS HAL on Matek F405-Wing, on Radian Pro. So a highly relevant config, IMHO. Would really like to avoid having to maintain parallel and different build environments/flows.

Kelly

The code at https://github.com/microsoft/Frigatebird/blob/master/libraries/AP_HAL_F4Light/hardware/sd/Sd2Card.cpp#L82-L138 has been lifted from my answer at stack overflow.

https://stackoverflow.com/questions/21593692/convert-unix-timestamp-to-date-without-system-libs

user contributions licensed under cc by-sa 4.0 with attribution required.

https://creativecommons.org/licenses/by-sa/4.0/

Hi there,

I'm working on a simplified version to act as a starting point to getting the POMDP into the main codebase. For the following settings:

• POMDP_NORM: Normalises the covariance trace (= 1 in param file)
• POMDP_EXT: Extends action duration in lift-exploiting mode (= 3 in param file)
• POMDP_PLAN: Enable deterministic trajectory planning mode (= 0 in param file)

Do you find that a particular configuration gives the best performance?

I'm also wondering about the relationship between N, HORI and K (samples per action trajectory, planning horizon duration and samples per second) - it seems like only two should be needed?

Lastly, the scheduling - there's several entries in the scheduler table calling soaring_policy_computation at 50Hz. This is unlikely to be acceptable - is there another way to achieve this? Would calling it at a higher rate have the same effect?

Cheers!

When running in SITL I get the following segfault:

Program received signal SIGSEGV, Segmentation fault. 0x00000000004ea483 in VarioSavitzkyGolayFilter::prediction ( this=0x7d5c74 <plane+1236>, dt=2.85445094, ekf_buffer=0x7d64b0 <plane+3344>, ekf_buffer_size=300, ekf_buffer_ptr=0, Edot=0x7d6488 <plane+3304>, Edotdot=0x7d648c <plane+3308>) at ../../libraries/AP_Soaring/VarioSavitzkyGolayFilter.cpp:22 22 p1 += SG_FILTER_C[0][i] * ekf_buffer[k][0];

My gcc version is 5.4.0 20160609. The only change I have made is to comment out the soaring-specific mavlink messages.

The soaring specific mavlink message definitions are missing from the repository. Please push the updated mavlink repository and update the submodule spec.

Many thanks.