feat: spacecraft tooling for commander and VehicleStatus (#24716)

* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: remove iostream

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: update mavlink to latest

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 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 thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# 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-posix/airframes/71002_gz_spacecraft_2d

@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

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

@@ -114,7 +114,6 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

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

@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE sc
+set VEHICLE_TYPE spacecraft
 
-# MAV_TYPE_QUADROTOR 2
+# MAV_TYPE_SPACECRAFT_ORBITTER
-#param set-default MAV_TYPE 12
+param set-default MAV_TYPE 45
 
 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -68,6 +68,15 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi
 
+#
+# Spapcecraft setup.
+#
+if [ $VEHICLE_TYPE = spacecraft ]
+then
+	# Start standard multicopter apps.
+	. ${R}etc/init.d/rc.sc_apps
+fi
+
 #
 # Airship setup.
 #

msg/versioned/VehicleStatus.msg

@@ -89,6 +89,7 @@ uint8 HIL_STATE_ON = 1
 
 # Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
 uint8 vehicle_type
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
 uint8 VEHICLE_TYPE_ROTARY_WING = 1
 uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3

src/modules/commander/Commander.cpp

@@ -688,7 +688,7 @@ Commander::Commander() :
 	_vehicle_status.system_id = 1;
 	_vehicle_status.component_id = 1;
 	_vehicle_status.system_type = 0;
-	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNSPECIFIED;
 	_vehicle_status.nav_state = _user_mode_intention.get();
 	_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
 	_vehicle_status.nav_state_timestamp = hrt_absolute_time();