add support for unmanned underwater vehicles (#14079)

* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module  uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	rc.thermal_cal
 	rc.rover_apps
 	rc.rover_defaults
+	rc.uuv_apps
+	rc.uuv_defaults
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name Generic Underwater Robot
+#
+# @type Underwater Robot
+# @class Underwater Robot
+#
+# @board px4_fmu-v2 exclude
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# @name HippoCampus UUV (Unmanned Underwater Vehicle)
+#
+# @type Underwater Robot
+# @class Underwater Robot
+#
+# @board px4_fmu-v2 exclude
+#
+# @maintainer Daniel Duecker <daniel.duecker@tuhh.de>
+#
+
+sh /etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+	#param set CBRK_GPSFAIL 240024
+fi
+
+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
+set MIXER uuv_x

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

@@ -146,4 +146,8 @@ px4_add_romfs_files(
 	50001_axialracing_ax10
 	50002_traxxas_stampede_2wd
 	50003_aion_robotics_r1_rover
+
+	# [60000, 61000] (Unmanned) Underwater Robots
+	60000_uuv_generic
+	60001_uuv_hippocampus
 )

ROMFS/px4fmu_common/init.d/rc.uuv_apps

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# Standard apps for uuvs. Attitude/Position estimator, Attitude/Position control.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+ekf2 start
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
+#
+# Start UUV Attitude Controller.
+#
+uuv_att_control start
+
+#
+# Start UUV Land Detector.
+#
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# UUV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE uuv
+
+if [ $AUTOCNF = yes ]
+then
+        param set PWM_MAX 1950
+        param set PWM_MIN 1050
+        param set PWM_DISARMED 1500
+
+fi
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
+# higher rates may damage analog servos.
+#
+set PWM_RATE 50
+
+#
+# Enable servo output on pins 1-4
+set PWM_OUT 1234
+set PWM_DISARMED 1500
+
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
+set PWM_AUX_RATE 50

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -147,6 +147,26 @@ then
 	sh /etc/init.d/rc.vtol_apps
 fi
 
+#
+# UUV setup
+#
+if [ $VEHICLE_TYPE = uuv ]
+then
+	if [ $MIXER = none ]
+	then
+		echo "UUV mixer undefined"
+	fi
+
+	# Load mixer and configure outputs.
+	sh /etc/init.d/rc.interface
+
+	# Start standard vtol apps.
+	sh /etc/init.d/rc.uuv_apps
+
+fi
+
+
+
 #
 # Generic setup (autostart ID not found).
 #