fix: spacecraft airframe naming (#25289)

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -117,8 +117,7 @@ px4_add_romfs_files(
 
 	60002_gz_uuv_bluerov2_heavy
 
-	71001_gz_atmos
+	70000_gz_atmos
-	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d/airframes/70000_atmos

@@ -1,24 +1,15 @@
 #!/bin/sh
 #
-# @name 3DoF Spacecraft Model
+# @name KTH-ATMOS
 #
-# @type 2D Freeflyer with 8 thrusters - Planar motion
+# @type Free-Flyer
+# @class Spacecraft
 #
-# @maintainer Pedro Roque <padr@kth.se>
+# @maintainer DISCOWER
 #
 
 . ${R}etc/init.d/rc.sc_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
 
@@ -36,6 +27,10 @@ param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
 param set-default COM_POSCTL_NAVL 2
 
+# Set Mocap Vision frame
+param set EKF2_EV_CTRL 15
+param set EKF2_HGT_REF 3
+
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
@@ -104,42 +99,52 @@ param set-default CA_ROTOR7_AX 0.0
 param set-default CA_ROTOR7_AY -1.0
 param set-default CA_ROTOR7_AZ 0.0
 
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
 
-param set-default SIM_GZ_EC_MIN1 0
+param set-default PWM_AUX_TIM0 10
-param set-default SIM_GZ_EC_MIN2 0
+param set-default PWM_AUX_TIM1 10
-param set-default SIM_GZ_EC_MIN3 0
+param set-default PWM_AUX_TIM2 10
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
 
-param set-default SIM_GZ_EC_MAX1 10000
+param set-default PWM_AUX_FUNC1 101
-param set-default SIM_GZ_EC_MAX2 10000
+param set-default PWM_AUX_FUNC2 102
-param set-default SIM_GZ_EC_MAX3 10000
+param set-default PWM_AUX_FUNC3 103
-param set-default SIM_GZ_EC_MAX4 10000
+param set-default PWM_AUX_FUNC4 104
-param set-default SIM_GZ_EC_MAX5 10000
+param set-default PWM_AUX_FUNC5 105
-param set-default SIM_GZ_EC_MAX6 10000
+param set-default PWM_AUX_FUNC6 106
-param set-default SIM_GZ_EC_MAX7 10000
+param set-default PWM_AUX_FUNC7 107
-param set-default SIM_GZ_EC_MAX8 10000
+param set-default PWM_AUX_FUNC8 108
+
+param set-default PWM_AUX_DIS1 0
+param set-default PWM_AUX_DIS2 0
+param set-default PWM_AUX_DIS3 0
+param set-default PWM_AUX_DIS4 0
+param set-default PWM_AUX_DIS5 0
+param set-default PWM_AUX_DIS6 0
+param set-default PWM_AUX_DIS7 0
+param set-default PWM_AUX_DIS8 0
+
+param set-default PWM_AUX_MIN1 0
+param set-default PWM_AUX_MIN2 0
+param set-default PWM_AUX_MIN3 0
+param set-default PWM_AUX_MIN4 0
+param set-default PWM_AUX_MIN5 0
+param set-default PWM_AUX_MIN6 0
+param set-default PWM_AUX_MIN7 0
+param set-default PWM_AUX_MIN8 0
+
+# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
+param set-default PWM_AUX_MAX1 10000
+param set-default PWM_AUX_MAX2 10000
+param set-default PWM_AUX_MAX3 10000
+param set-default PWM_AUX_MAX4 10000
+param set-default PWM_AUX_MAX5 10000
+param set-default PWM_AUX_MAX6 10000
+param set-default PWM_AUX_MAX7 10000
+param set-default PWM_AUX_MAX8 10000
 
 # Controller Tunings
-param set SC_YAWRATE_P 3.335
+param set-default SC_ROLLRATE_P 0.14
-param set SC_YAWRATE_I 0.87
+param set-default SC_PITCHRATE_P 0.14
-param set SC_YAWRATE_D 0.15
+param set-default SC_ROLLRATE_I 0.3
-param set SC_YR_INT_LIM 0.2
+param set-default SC_PITCHRATE_I 0.3
-param set SC_YAW_P 3.0
+param set-default SC_ROLLRATE_D 0.004
-
+param set-default SC_PITCHRATE_D 0.00
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH Space Robot
-#
-# @type Space Robot
-# @class 2D Space Robot
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set Mocap Vision frame
-param set EKF2_EV_CTRL 15
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/70001_atmos

@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH Space Robot
-#
-# @type Space Robot
-# @class 2D Space Robot
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set Mocap Vision frame
-param set EKF2_EV_CTRL 15
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -166,3 +166,10 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		# [70000, 70999] Spacecraft
+		70000_atmos
+	)
+endif()