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feat(sih): add propeller model with advance ratio (#26720)

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---------

Signed-off-by: romain-chiap <romain.chiap@gmail.com>
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: romain-chiap <romain.chiap@gmail.com>
This commit is contained in:
Ramon Roche
2026-04-08 16:57:17 -06:00
committed by GitHub
parent eb9a76cfaf
commit 3c5574c051
9 changed files with 535 additions and 51 deletions
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ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+19 -1
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@@ -14,6 +14,7 @@
param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
@@ -38,7 +39,6 @@ param set-default SYS_HITL 2
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set SIH_T_MAX 6
param set SIH_MASS 0.3
param set SIH_IXX 0.00402
param set SIH_IYY 0.0144
@@ -48,3 +48,21 @@ param set SIH_KDV 0.2
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
# pusher propeller model with advance ratio, model from UIUC APC 8x6"
param set SIH_F_T_MAX 6
param set SIH_F_Q_MAX 0.03
# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
param set SIH_F_CT0 0.131
param set SIH_F_CT1 0.004
param set SIH_F_CT2 -0.146
param set SIH_F_CP0 0.0777
param set SIH_F_CP1 0.0498
param set SIH_F_CP2 -0.11
param set SIH_F_DIA_INCH 8
param set SIH_F_RPM_MAX 9000
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default FW_PSP_OFF 0.5
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+17 -3
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@@ -28,6 +28,7 @@ param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 0.3
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default FW_PSP_OFF 5
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
@@ -56,7 +57,6 @@ param set-default HIL_ACT_REV 32
param set-default MAV_TYPE 19
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
@@ -66,8 +66,9 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
# tailsitter is equipped with two forward propellers
param set SIH_F_T_MAX 2
param set SIH_F_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
@@ -77,6 +78,19 @@ param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.145
# propeller diameter, rpm, and coeffs coming from the thesis
# Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
# Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
param set SIH_F_CT0 0.1342
param set SIH_F_CT1 -0.1196
param set SIH_F_CT2 -0.1281
param set SIH_F_CP0 0.0522
param set SIH_F_CP1 -0.0146
param set SIH_F_CP2 -0.0602
param set SIH_F_DIA_INCH 5
param set SIH_F_RPM_MAX 14000
# sih as tailsitter
param set SIH_VEHICLE_TYPE 2
ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+15
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@@ -56,6 +56,7 @@ param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default VT_FWD_THRUST_EN 1
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
@@ -77,6 +78,7 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default SENS_DPRES_OFF 0.001
# quadrotor propellers
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
@@ -88,5 +90,18 @@ param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# pusher propeller model with advance ratio, model from UIUC APC 8x6"
param set SIH_F_T_MAX 6
param set SIH_F_Q_MAX 0.03
# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
param set SIH_F_CT0 0.131
param set SIH_F_CT1 0.004
param set SIH_F_CT2 -0.146
param set SIH_F_CP0 0.0777
param set SIH_F_CP1 0.0498
param set SIH_F_CP2 -0.11
param set SIH_F_DIA_INCH 8
param set SIH_F_RPM_MAX 9000
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d/airframes/1105_rc_hexa_x_sih.hil
+49
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@@ -0,0 +1,49 @@
#!/bin/sh
#
# @name SIH Hexacopter X
#
# @type Simulation
# @class Copter
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set UAVCAN_ENABLE 0
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set SIH_VEHICLE_TYPE 4
# Symmetric hexacopter X clockwise motor numbering
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.866
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.866
param set-default CA_ROTOR2_PY 0.5
param set-default CA_ROTOR3_PX -0.866
param set-default CA_ROTOR3_PY -0.5
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0
param set-default CA_ROTOR4_PY -1
param set-default CA_ROTOR5_PX 0.866
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 105
param set-default HIL_ACT_FUNC6 106
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1
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@@ -49,6 +49,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
1103_standard_vtol_sih.hil
1105_rc_hexa_x_sih.hil
)
if(CONFIG_MODULES_ROVER_ACKERMANN)
px4_add_romfs_files(