TianhuaGao/ArduGeo: ArduGeo PID v1.1.0

Résumé fourni par la source

This release updates the PID-only ArduGeo implementation to use the classical Lee geometric commanded-attitude construction. Lee commanded-attitude construction Retains ArduPilot's scalar desired-yaw, desired-yaw-rate, and yaw-shaper interfaces. Interprets the desired yaw as the horizontal desired first-axis direction b1d. Constructs Rc = [b1c b2c b3c] using b3c = -A / ||A||, b2c parallel to b3c x b1d, and b1c = b2c x b3c. Recovers the ordinary level-yaw rotation Rz(psi_d) in the level case. Keeps a finite defensive completion when the computed cross-product norm is treated as zero. Artifact identity Release branch: ardugeo-pid Release commit: 7a907217175ace2842e2e0390a8f976ec6482d04 Previous release commit: d1a704d0fdf9494b6b8d938f9c49557d9e7dcc2c Upstream ArduPilot base: 48644320dc6c4a19cc20c44051e56908eee97f4e Canonical evaluated SITL executable SHA-256: 5e388326387209bd32df4af91cd39567724fe5222dae00f6dd7029c3afb0919f Validation boundary Copter SITL build passed. 86/86 PID-only unit tests passed across eight test binaries. Seven focused Guided/Loiter SITL regressions passed. One nominal circular Gazebo run and one nominal variable-altitude three-dimensional figure-eight Gazebo run passed their stated acceptance criteria. This release contains no SANM or other learning controller. HIL, physical-flight validation, and performance-superiority claims remain outside the reported scope. ArduGeo retains the GNU General Public License v3.0 or later used by ArduPilot.

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