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BlueROV2 Height control Altitude Mode (#26364)

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* removed commented out parts

* changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp

* Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email

* added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero.

* fixed constant roll/pitch to be 0.0 again

* added parameter for maximum distance between controlled des height and current height.
Added state observation to reset the desired height to current height when altitude mode is turned on.

* added first short descriptions of manual modes.

* update descriptions

* removed vector dependency

* feat: updated gz submodule

* fix: newline

* fix: gz submodule

---------

Co-authored-by: Pedro Roque <roque@caltech.edu>
This commit is contained in:
Tim
2026-02-21 07:46:12 +01:00
committed by GitHub
parent 9048a40277
commit 8f870a1346
6 changed files with 199 additions and 24 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy
+6 -9
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@@ -42,23 +42,21 @@ param set-default FD_FAIL_R 0
param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX -1
param set-default CA_ROTOR0_AY 1
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AY -1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX 0.14
param set-default CA_ROTOR0_PY 0.10
param set-default CA_ROTOR0_PZ 0.06
#param set-default CA_ROTOR0_PZ 0.0
param set-default CA_ROTOR1_AX -1
param set-default CA_ROTOR1_AY -1
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AY 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX 0.14
param set-default CA_ROTOR1_PY -0.10
param set-default CA_ROTOR1_PZ 0.06
#param set-default CA_ROTOR1_PZ 0.0
param set-default CA_ROTOR2_AX 1
param set-default CA_ROTOR2_AY 1
@@ -67,7 +65,6 @@ param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX -0.14
param set-default CA_ROTOR2_PY 0.10
param set-default CA_ROTOR2_PZ 0.06
#param set-default CA_ROTOR2_PZ 0.0
param set-default CA_ROTOR3_AX 1
param set-default CA_ROTOR3_AY -1
@@ -79,7 +76,7 @@ param set-default CA_ROTOR3_PZ 0.06
param set-default CA_ROTOR4_AX 0
param set-default CA_ROTOR4_AY 0
param set-default CA_ROTOR4_AZ 1
param set-default CA_ROTOR4_AZ -1
param set-default CA_ROTOR4_KM 0
param set-default CA_ROTOR4_PX 0.12
param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +100,7 @@ param set-default CA_ROTOR6_PZ 0
param set-default CA_ROTOR7_AX 0
param set-default CA_ROTOR7_AY 0
param set-default CA_ROTOR7_AZ 1
param set-default CA_ROTOR7_AZ -1
param set-default CA_ROTOR7_KM 0
param set-default CA_ROTOR7_PX -0.12
param set-default CA_ROTOR7_PY -0.22