IMC Protocol: Formation tracking evaluation messages added.
Maneuver.VehicleFormation.FormCollAvoid: Adding formation tracking evaluation variables.
Config: development/form_fl: Activated formation controller spew mode, for debug purposes.
DUNE/IMC: Finished adding new messages for formation control evaluation. The new messages are 'Formation Evaluation Data' and 'Relative State'.
Config: development/form_fl: Activated the formation controller mode for debug variables computation.
Maneuver/VehicleFormation/FormCollAvoid: Finished adding variables and print-outs for controller debuging.
common/imc-addresses: Correction of the virtual formation leaders' IDs. Different names had the same ID.
Maneuver/VehicleFormation/FormCollAvoid: Activated virtual leader simulation debug print-outs. Added a filter logic in the DesiredSpeed and DesiredRoll commands consumes, to disregard commands sent by other systems.
Simulators/UAV: Improved the information shown by the debug print-outs.
Config: development/form_fl: Changed the simulation model [Simulation.UAV] to 5DOF and introduced more realistic simulation parameters for UAV X8. Updated the tuning parameters for the formation controller. The new tuning parameters dramatically improve the controller behaviour for the current simulation model.
Config: development/form_lead: Updated the simulation model with more realistic simulation parameters for UAV X8.
DUNE/Simulation: Updated UAV simulation class to reset the vertical position to a commanded altitude, whenever this is received, in the simulation models without altitude dynamics.
Simulators/UAV: Updated simulation model initial definition to use a vertical position even for the simulation models without altitude dynamics. Adjusted the altitude consume to reset the simulation model altitude if the model does not include altitude dynamics.
Maneuver/VehicleFormation/FormCollAvoid: Added simulation models configuration parameters. Added DesiredZ consume to allow the update of the formation leader altitude. Introduced an additional verification of the existence of a valid airspeed measurement. Changed the way some of the tuning parameters are computed. Improved the debug print-outs. Corrected bugs involving UAV indices.