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add support for unmanned underwater vehicles (#14079)

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* 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
This commit is contained in:
Daniel Duecker
2020-02-05 05:24:37 +01:00
committed by GitHub
parent a82428c5fd
commit 36f836be79
23 changed files with 1072 additions and 31 deletions
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ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+1
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@@ -37,4 +37,5 @@ px4_add_romfs_files(
rover_sitl.main.mix
standard_vtol_sitl.main.mix
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix
)
ROMFS/px4fmu_common/mixers-sitl/uuv_x_sitl.main.mix
+25
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@@ -0,0 +1,25 @@
Mixer for Unmanned Underwater Vehicles (UUV) with X-Motor configuration
==========================================================================
# @board px4_fmu-v2 exclude
M: 4
S: 0 0 -4000 -4000 0 -4000 4000
S: 0 1 -4000 -4000 0 -4000 4000
S: 0 2 +4000 +4000 0 -4000 4000
S: 0 3 +4000 +4000 0 -4000 4000
M: 4
S: 0 0 +4000 +4000 0 -4000 4000
S: 0 1 -4000 -4000 0 -4000 4000
S: 0 2 -4000 -4000 0 -4000 4000
S: 0 3 +4000 +4000 0 -4000 4000
M: 4
S: 0 0 -4000 -4000 0 -4000 4000
S: 0 1 +4000 +4000 0 -4000 4000
S: 0 2 -4000 -4000 0 -4000 4000
S: 0 3 +4000 +4000 0 -4000 4000
M: 4
S: 0 0 +4000 +4000 0 -4000 4000
S: 0 1 +4000 +4000 0 -4000 4000
S: 0 2 +4000 +4000 0 -4000 4000
S: 0 3 +4000 +4000 0 -4000 4000