mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
Spacecraft build and bare control allocator (#24221)
This commit is contained in:
Pedro Roque
GitHub
Vendored
-1
@@ -129,5 +129,4 @@
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"yaml.schemas": {
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"yaml.schemas": {
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"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
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"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
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},
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},
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"ros.distro": "humble"
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}
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}
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@@ -0,0 +1,155 @@
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#!/bin/sh
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#
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# @name 6DoF Spacecraft Model
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#
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# @type Freeflyer with 8 thrusters
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#
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# @maintainer Pedro Roque <padr@kth.se>
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#
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. ${R}etc/init.d/rc.sc_defaults
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param set-default CA_AIRFRAME 15
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param set-default MAV_TYPE 99
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param set-default CA_THRUSTER_CNT 12
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param set-default CA_R_REV 0
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# param set-default FW_ARSP_MODE 1
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# Auto to be provided by Custom Airframe
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param set-default CA_METHOD 0
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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param set-default COM_POSCTL_NAVL 2
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# Set thrusters
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param set-default CA_THRUSTER0_PX -0.50
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param set-default CA_THRUSTER0_PY 0.50
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param set-default CA_THRUSTER0_PZ 0.0
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param set-default CA_THRUSTER0_CT 0.237
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param set-default CA_THRUSTER0_AX 0.0
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param set-default CA_THRUSTER0_AY -1.0
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param set-default CA_THRUSTER0_AZ 0.0
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param set-default CA_THRUSTER1_PX 0.50
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param set-default CA_THRUSTER1_PY 0.50
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param set-default CA_THRUSTER1_PZ 0.0
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param set-default CA_THRUSTER1_CT 0.237
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param set-default CA_THRUSTER1_AX 0.0
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param set-default CA_THRUSTER1_AY -1.0
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param set-default CA_THRUSTER1_AZ 0.0
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param set-default CA_THRUSTER2_PX 0.50
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param set-default CA_THRUSTER2_PY -0.50
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param set-default CA_THRUSTER2_PZ 0.0
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param set-default CA_THRUSTER2_CT 0.237
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param set-default CA_THRUSTER2_AX 0.0
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param set-default CA_THRUSTER2_AY 1.0
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param set-default CA_THRUSTER2_AZ 0.0
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param set-default CA_THRUSTER3_PX -0.50
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param set-default CA_THRUSTER3_PY -0.50
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param set-default CA_THRUSTER3_PZ 0.0
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param set-default CA_THRUSTER3_CT 0.237
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param set-default CA_THRUSTER3_AX 0.0
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param set-default CA_THRUSTER3_AY 1.0
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param set-default CA_THRUSTER3_AZ 0.0
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param set-default CA_THRUSTER4_PX -0.50
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param set-default CA_THRUSTER4_PY 0.0
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param set-default CA_THRUSTER4_PZ -0.50
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param set-default CA_THRUSTER4_CT 0.237
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param set-default CA_THRUSTER4_AX 1.0
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param set-default CA_THRUSTER4_AY 0.0
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param set-default CA_THRUSTER4_AZ 0.0
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param set-default CA_THRUSTER5_PX 0.50
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param set-default CA_THRUSTER5_PY 0.0
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param set-default CA_THRUSTER5_PZ -0.50
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param set-default CA_THRUSTER5_CT 0.237
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param set-default CA_THRUSTER5_AX -1.0
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param set-default CA_THRUSTER5_AY 0.0
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param set-default CA_THRUSTER5_AZ 0.0
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param set-default CA_THRUSTER6_PX 0.50
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param set-default CA_THRUSTER6_PY 0.0
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param set-default CA_THRUSTER6_PZ 0.50
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param set-default CA_THRUSTER6_CT 0.237
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param set-default CA_THRUSTER6_AX -1.0
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param set-default CA_THRUSTER6_AY 0.0
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param set-default CA_THRUSTER6_AZ 0.0
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param set-default CA_THRUSTER7_PX -0.50
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param set-default CA_THRUSTER7_PY 0.0
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param set-default CA_THRUSTER7_PZ 0.50
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param set-default CA_THRUSTER7_CT 0.237
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param set-default CA_THRUSTER7_AX 1.0
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param set-default CA_THRUSTER7_AY 0.0
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param set-default CA_THRUSTER7_AZ 0.0
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param set-default CA_THRUSTER8_PX 0.0
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param set-default CA_THRUSTER8_PY -0.50
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param set-default CA_THRUSTER8_PZ -0.50
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param set-default CA_THRUSTER8_CT 0.237
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param set-default CA_THRUSTER8_AX 0.0
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param set-default CA_THRUSTER8_AY 0.0
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param set-default CA_THRUSTER8_AZ 1.0
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param set-default CA_THRUSTER9_PX 0.0
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param set-default CA_THRUSTER9_PY 0.50
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param set-default CA_THRUSTER9_PZ -0.50
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param set-default CA_THRUSTER9_CT 0.237
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param set-default CA_THRUSTER9_AX 0.0
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param set-default CA_THRUSTER9_AY 0.0
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param set-default CA_THRUSTER9_AZ 1.0
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param set-default CA_THRUSTER10_PX 0.0
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param set-default CA_THRUSTER10_PY 0.50
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param set-default CA_THRUSTER10_PZ 0.50
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param set-default CA_THRUSTER10_CT 0.237
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param set-default CA_THRUSTER10_AX 0.0
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param set-default CA_THRUSTER10_AY 0.0
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param set-default CA_THRUSTER10_AZ -1.0
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param set-default CA_THRUSTER11_PX 0.0
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param set-default CA_THRUSTER11_PY -0.50
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param set-default CA_THRUSTER11_PZ 0.50
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param set-default CA_THRUSTER11_CT 0.237
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param set-default CA_THRUSTER11_AX 0.0
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param set-default CA_THRUSTER11_AY 0.0
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param set-default CA_THRUSTER11_AZ -1.0
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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param set-default PWM_MAIN_FUNC7 107
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param set-default PWM_MAIN_FUNC8 108
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param set-default PWM_MAIN_FUNC9 109
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param set-default PWM_MAIN_FUNC10 110
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param set-default PWM_MAIN_FUNC11 111
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param set-default PWM_MAIN_FUNC12 112
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# PWM Simulation
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param set PWM_SIM_PWM_MAX 10000
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param set PWM_SIM_PWM_MIN 0
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# Controller Tunings
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param set-default SC_ROLLRATE_P 0.14
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param set-default SC_PITCHRATE_P 0.14
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param set-default SC_ROLLRATE_I 0.3
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param set-default SC_PITCHRATE_I 0.3
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param set-default SC_ROLLRATE_D 0.004
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param set-default SC_PITCHRATE_D 0.004
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@@ -0,0 +1,149 @@
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#!/bin/sh
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#
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# @name 3DoF Spacecraft Model
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#
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# @type 2D Freeflyer with 8 thrusters - Planar motion
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#
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# @maintainer Pedro Roque <padr@kth.se>
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#
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. ${R}etc/init.d/rc.sc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
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param set-default SIM_GZ_EN 1
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
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param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
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param set-default CA_AIRFRAME 14
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param set-default MAV_TYPE 99
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param set-default CA_THRUSTER_CNT 8
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param set-default CA_R_REV 0
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# param set-default FW_ARSP_MODE 1
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# Auto to be provided by Custom Airframe
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param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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param set-default COM_POSCTL_NAVL 2
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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param set-default CA_THRUSTER0_PX -0.12
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param set-default CA_THRUSTER0_PY -0.12
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param set-default CA_THRUSTER0_PZ 0.0
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param set-default CA_THRUSTER0_CT 1.4
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param set-default CA_THRUSTER0_AX 1.0
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param set-default CA_THRUSTER0_AY 0.0
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param set-default CA_THRUSTER0_AZ 0.0
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param set-default CA_THRUSTER1_PX 0.12
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param set-default CA_THRUSTER1_PY -0.12
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param set-default CA_THRUSTER1_PZ 0.0
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param set-default CA_THRUSTER1_CT 1.4
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param set-default CA_THRUSTER1_AX -1.0
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param set-default CA_THRUSTER1_AY 0.0
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param set-default CA_THRUSTER1_AZ 0.0
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param set-default CA_THRUSTER2_PX -0.12
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param set-default CA_THRUSTER2_PY 0.12
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param set-default CA_THRUSTER2_PZ 0.0
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param set-default CA_THRUSTER2_CT 1.4
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param set-default CA_THRUSTER2_AX 1.0
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param set-default CA_THRUSTER2_AY 0.0
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param set-default CA_THRUSTER2_AZ 0.0
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param set-default CA_THRUSTER3_PX 0.12
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param set-default CA_THRUSTER3_PY 0.12
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param set-default CA_THRUSTER3_PZ 0.0
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param set-default CA_THRUSTER3_CT 1.4
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param set-default CA_THRUSTER3_AX -1.0
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param set-default CA_THRUSTER3_AY 0.0
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param set-default CA_THRUSTER3_AZ 0.0
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param set-default CA_THRUSTER4_PX 0.12
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param set-default CA_THRUSTER4_PY -0.12
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param set-default CA_THRUSTER4_PZ 0.0
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param set-default CA_THRUSTER4_CT 1.4
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param set-default CA_THRUSTER4_AX 0.0
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param set-default CA_THRUSTER4_AY 1.0
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param set-default CA_THRUSTER4_AZ 0.0
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param set-default CA_THRUSTER5_PX 0.12
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param set-default CA_THRUSTER5_PY 0.12
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param set-default CA_THRUSTER5_PZ 0.0
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param set-default CA_THRUSTER5_CT 1.4
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param set-default CA_THRUSTER5_AX 0.0
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param set-default CA_THRUSTER5_AY -1.0
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param set-default CA_THRUSTER5_AZ 0.0
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param set-default CA_THRUSTER6_PX -0.12
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param set-default CA_THRUSTER6_PY -0.12
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param set-default CA_THRUSTER6_PZ 0.0
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param set-default CA_THRUSTER6_CT 1.4
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param set-default CA_THRUSTER6_AX 0.0
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param set-default CA_THRUSTER6_AY 1.0
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param set-default CA_THRUSTER6_AZ 0.0
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param set-default CA_THRUSTER7_PX -0.12
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param set-default CA_THRUSTER7_PY 0.12
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param set-default CA_THRUSTER7_PZ 0.0
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param set-default CA_THRUSTER7_CT 1.4
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param set-default CA_THRUSTER7_AX 0.0
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param set-default CA_THRUSTER7_AY -1.0
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param set-default CA_THRUSTER7_AZ 0.0
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param set-default SIM_GZ_TH_FUNC1 101
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param set-default SIM_GZ_TH_FUNC2 102
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param set-default SIM_GZ_TH_FUNC3 103
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param set-default SIM_GZ_TH_FUNC4 104
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param set-default SIM_GZ_TH_FUNC5 105
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param set-default SIM_GZ_TH_FUNC6 106
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param set-default SIM_GZ_TH_FUNC7 107
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param set-default SIM_GZ_TH_FUNC8 108
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param set-default SIM_GZ_TH_MIN1 0
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param set-default SIM_GZ_TH_MIN2 0
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param set-default SIM_GZ_TH_MIN3 0
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param set-default SIM_GZ_TH_MIN4 0
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param set-default SIM_GZ_TH_MIN5 0
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param set-default SIM_GZ_TH_MIN6 0
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param set-default SIM_GZ_TH_MIN7 0
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param set-default SIM_GZ_TH_MIN8 0
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param set-default SIM_GZ_TH_MAX1 10000
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param set-default SIM_GZ_TH_MAX2 10000
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param set-default SIM_GZ_TH_MAX3 10000
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param set-default SIM_GZ_TH_MAX4 10000
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param set-default SIM_GZ_TH_MAX5 10000
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param set-default SIM_GZ_TH_MAX6 10000
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param set-default SIM_GZ_TH_MAX7 10000
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param set-default SIM_GZ_TH_MAX8 10000
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# Controller Tunings
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||||||
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param set SC_YAWRATE_P 3.335
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param set SC_YAWRATE_I 0.87
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param set SC_YAWRATE_D 0.15
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param set SC_YR_INT_LIM 0.2
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param set SC_YAW_P 3.0
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param set SPC_POS_P 0.20
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param set SPC_VEL_P 6.55
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param set SPC_VEL_I 0.0
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param set SPC_VEL_D 0.0
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param set SPC_VEL_MAX 12.0
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||||||
@@ -114,5 +114,8 @@ px4_add_romfs_files(
|
|||||||
17001_flightgear_tf-g1
|
17001_flightgear_tf-g1
|
||||||
17002_flightgear_tf-g2
|
17002_flightgear_tf-g2
|
||||||
|
|
||||||
|
71001_gazebo-classic_spacecraft_dart
|
||||||
|
71002_gz_spacecraft_2d
|
||||||
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|
||||||
# [22000, 22999] Reserve for custom models
|
# [22000, 22999] Reserve for custom models
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
|
|||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
|
if(CONFIG_MODULES_SPACECRAFT)
|
||||||
|
px4_add_romfs_files(
|
||||||
|
rc.sc_apps
|
||||||
|
rc.sc_defaults
|
||||||
|
)
|
||||||
|
endif()
|
||||||
|
|
||||||
if(CONFIG_MODULES_ROVER_MECANUM)
|
if(CONFIG_MODULES_ROVER_MECANUM)
|
||||||
px4_add_romfs_files(
|
px4_add_romfs_files(
|
||||||
rc.rover_mecanum_apps
|
rc.rover_mecanum_apps
|
||||||
|
|||||||
@@ -0,0 +1,150 @@
|
|||||||
|
#!/bin/sh
|
||||||
|
#
|
||||||
|
# @name KTH Space Robot
|
||||||
|
#
|
||||||
|
# @type Space Robot
|
||||||
|
# @class 2D Space Robot
|
||||||
|
#
|
||||||
|
# @maintainer DISCOWER
|
||||||
|
#
|
||||||
|
|
||||||
|
. ${R}etc/init.d/rc.sc_defaults
|
||||||
|
|
||||||
|
param set-default CA_AIRFRAME 14
|
||||||
|
param set-default MAV_TYPE 99
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER_CNT 8
|
||||||
|
param set-default CA_R_REV 0
|
||||||
|
|
||||||
|
# Auto to be provided by Custom Airframe
|
||||||
|
param set-default CA_METHOD 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 Mocap Vision frame
|
||||||
|
param set EKF2_EV_CTRL 15
|
||||||
|
param set EKF2_HGT_REF 3
|
||||||
|
|
||||||
|
# disable attitude failure detection
|
||||||
|
param set-default FD_FAIL_P 0
|
||||||
|
param set-default FD_FAIL_R 0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER0_PX -0.12
|
||||||
|
param set-default CA_THRUSTER0_PY -0.12
|
||||||
|
param set-default CA_THRUSTER0_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER0_CT 1.4
|
||||||
|
param set-default CA_THRUSTER0_AX 1.0
|
||||||
|
param set-default CA_THRUSTER0_AY 0.0
|
||||||
|
param set-default CA_THRUSTER0_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER1_PX 0.12
|
||||||
|
param set-default CA_THRUSTER1_PY -0.12
|
||||||
|
param set-default CA_THRUSTER1_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER1_CT 1.4
|
||||||
|
param set-default CA_THRUSTER1_AX -1.0
|
||||||
|
param set-default CA_THRUSTER1_AY 0.0
|
||||||
|
param set-default CA_THRUSTER1_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER2_PX -0.12
|
||||||
|
param set-default CA_THRUSTER2_PY 0.12
|
||||||
|
param set-default CA_THRUSTER2_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER2_CT 1.4
|
||||||
|
param set-default CA_THRUSTER2_AX 1.0
|
||||||
|
param set-default CA_THRUSTER2_AY 0.0
|
||||||
|
param set-default CA_THRUSTER2_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER3_PX 0.12
|
||||||
|
param set-default CA_THRUSTER3_PY 0.12
|
||||||
|
param set-default CA_THRUSTER3_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER3_CT 1.4
|
||||||
|
param set-default CA_THRUSTER3_AX -1.0
|
||||||
|
param set-default CA_THRUSTER3_AY 0.0
|
||||||
|
param set-default CA_THRUSTER3_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER4_PX 0.12
|
||||||
|
param set-default CA_THRUSTER4_PY -0.12
|
||||||
|
param set-default CA_THRUSTER4_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER4_CT 1.4
|
||||||
|
param set-default CA_THRUSTER4_AX 0.0
|
||||||
|
param set-default CA_THRUSTER4_AY 1.0
|
||||||
|
param set-default CA_THRUSTER4_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER5_PX 0.12
|
||||||
|
param set-default CA_THRUSTER5_PY 0.12
|
||||||
|
param set-default CA_THRUSTER5_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER5_CT 1.4
|
||||||
|
param set-default CA_THRUSTER5_AX 0.0
|
||||||
|
param set-default CA_THRUSTER5_AY -1.0
|
||||||
|
param set-default CA_THRUSTER5_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER6_PX -0.12
|
||||||
|
param set-default CA_THRUSTER6_PY -0.12
|
||||||
|
param set-default CA_THRUSTER6_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER6_CT 1.4
|
||||||
|
param set-default CA_THRUSTER6_AX 0.0
|
||||||
|
param set-default CA_THRUSTER6_AY 1.0
|
||||||
|
param set-default CA_THRUSTER6_AZ 0.0
|
||||||
|
|
||||||
|
param set-default CA_THRUSTER7_PX -0.12
|
||||||
|
param set-default CA_THRUSTER7_PY 0.12
|
||||||
|
param set-default CA_THRUSTER7_PZ 0.0
|
||||||
|
param set-default CA_THRUSTER7_CT 1.4
|
||||||
|
param set-default CA_THRUSTER7_AX 0.0
|
||||||
|
param set-default CA_THRUSTER7_AY -1.0
|
||||||
|
param set-default CA_THRUSTER7_AZ 0.0
|
||||||
|
|
||||||
|
|
||||||
|
param set-default PWM_AUX_TIM0 10
|
||||||
|
param set-default PWM_AUX_TIM1 10
|
||||||
|
param set-default PWM_AUX_TIM2 10
|
||||||
|
|
||||||
|
param set-default PWM_AUX_FUNC1 101
|
||||||
|
param set-default PWM_AUX_FUNC2 102
|
||||||
|
param set-default PWM_AUX_FUNC3 103
|
||||||
|
param set-default PWM_AUX_FUNC4 104
|
||||||
|
param set-default PWM_AUX_FUNC5 105
|
||||||
|
param set-default PWM_AUX_FUNC6 106
|
||||||
|
param set-default PWM_AUX_FUNC7 107
|
||||||
|
param set-default PWM_AUX_FUNC8 108
|
||||||
|
|
||||||
|
param set-default PWM_AUX_DIS1 0
|
||||||
|
param set-default PWM_AUX_DIS2 0
|
||||||
|
param set-default PWM_AUX_DIS3 0
|
||||||
|
param set-default PWM_AUX_DIS4 0
|
||||||
|
param set-default PWM_AUX_DIS5 0
|
||||||
|
param set-default PWM_AUX_DIS6 0
|
||||||
|
param set-default PWM_AUX_DIS7 0
|
||||||
|
param set-default PWM_AUX_DIS8 0
|
||||||
|
|
||||||
|
param set-default PWM_AUX_MIN1 0
|
||||||
|
param set-default PWM_AUX_MIN2 0
|
||||||
|
param set-default PWM_AUX_MIN3 0
|
||||||
|
param set-default PWM_AUX_MIN4 0
|
||||||
|
param set-default PWM_AUX_MIN5 0
|
||||||
|
param set-default PWM_AUX_MIN6 0
|
||||||
|
param set-default PWM_AUX_MIN7 0
|
||||||
|
param set-default PWM_AUX_MIN8 0
|
||||||
|
|
||||||
|
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
|
||||||
|
param set-default PWM_AUX_MAX1 10000
|
||||||
|
param set-default PWM_AUX_MAX2 10000
|
||||||
|
param set-default PWM_AUX_MAX3 10000
|
||||||
|
param set-default PWM_AUX_MAX4 10000
|
||||||
|
param set-default PWM_AUX_MAX5 10000
|
||||||
|
param set-default PWM_AUX_MAX6 10000
|
||||||
|
param set-default PWM_AUX_MAX7 10000
|
||||||
|
param set-default PWM_AUX_MAX8 10000
|
||||||
|
|
||||||
|
# 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
|
||||||
@@ -0,0 +1,36 @@
|
|||||||
|
#!/bin/sh
|
||||||
|
#
|
||||||
|
# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
|
||||||
|
#
|
||||||
|
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||||
|
#
|
||||||
|
|
||||||
|
# Start Spacecraft App
|
||||||
|
spacecraft start
|
||||||
|
|
||||||
|
# Estimator Group Selection
|
||||||
|
# ekf2 start &
|
||||||
|
|
||||||
|
# Start MicroDDS Client
|
||||||
|
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
|
||||||
|
# uxrce_dds_client start -t udp -p 8888
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start Control Allocator
|
||||||
|
#
|
||||||
|
# sc_control_allocator start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start Spacecraft Rate Controller.
|
||||||
|
#
|
||||||
|
# sc_rate_control start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start Spacecraft Attitude Controller.
|
||||||
|
#
|
||||||
|
# sc_att_control start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start Spacecraft Position Controller.
|
||||||
|
#
|
||||||
|
# sc_pos_control start
|
||||||
@@ -0,0 +1,27 @@
|
|||||||
|
#!/bin/sh
|
||||||
|
#
|
||||||
|
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||||
|
#
|
||||||
|
|
||||||
|
set VEHICLE_TYPE sc
|
||||||
|
|
||||||
|
# MAV_TYPE_QUADROTOR 2
|
||||||
|
#param set-default MAV_TYPE 12
|
||||||
|
|
||||||
|
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
|
||||||
|
param set-default UXRCE_DDS_AG_IP -1062731775
|
||||||
|
|
||||||
|
# Disable preflight disarm to not interfere with external launching
|
||||||
|
param set-default COM_DISARM_PRFLT -1
|
||||||
|
param set-default CBRK_SUPPLY_CHK 894281
|
||||||
|
param set-default COM_ARM_HFLT_CHK 0
|
||||||
|
|
||||||
|
#Missing params
|
||||||
|
param set-default CP_DIST -1.0
|
||||||
|
|
||||||
|
# Default to MoCap fusion
|
||||||
|
param set-default ATT_EXT_HDG_M 2
|
||||||
|
param set-default EKF2_EV_CTRL 15
|
||||||
|
param set-default EKF2_EV_DELAY 5
|
||||||
|
param set-default EKF2_GPS_CTRL 0
|
||||||
|
param set-default EKF2_HGT_REF 3
|
||||||
@@ -53,6 +53,7 @@ exception_list = [
|
|||||||
'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system',
|
'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system',
|
||||||
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
|
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
|
||||||
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
|
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
|
||||||
|
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
|
||||||
]
|
]
|
||||||
|
|
||||||
exception_list_sitl = [
|
exception_list_sitl = [
|
||||||
@@ -73,6 +74,7 @@ exception_list_sitl = [
|
|||||||
'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
|
'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
|
||||||
'SYSTEMCMDS_DMESG', # Not supported in SITL
|
'SYSTEMCMDS_DMESG', # Not supported in SITL
|
||||||
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
|
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
|
||||||
|
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
|
||||||
]
|
]
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
|
|||||||
+1
-1
Submodule Tools/simulation/gz updated: 230450cc81...db4af69088
@@ -80,3 +80,4 @@ CONFIG_EXAMPLES_HELLO=y
|
|||||||
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
|
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
|
||||||
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
|
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
|
||||||
CONFIG_EXAMPLES_WORK_ITEM=y
|
CONFIG_EXAMPLES_WORK_ITEM=y
|
||||||
|
CONFIG_MODULES_SPACECRAFT=n
|
||||||
|
|||||||
@@ -0,0 +1,17 @@
|
|||||||
|
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||||
|
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||||
|
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||||
|
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||||
|
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||||
|
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||||
|
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||||
|
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||||
|
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||||
|
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||||
|
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||||
|
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||||
|
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||||
|
CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
|
||||||
|
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
|
||||||
|
CONFIG_MODULES_CONTROL_ALLOCATOR=n
|
||||||
|
CONFIG_MODULES_SPACECRAFT=y
|
||||||
@@ -53,6 +53,7 @@ file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
|
|||||||
# avoid param duplicates
|
# avoid param duplicates
|
||||||
list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/")
|
list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/")
|
||||||
list(FILTER yaml_config_files EXCLUDE REGEX ".*/linux_pwm_out/")
|
list(FILTER yaml_config_files EXCLUDE REGEX ".*/linux_pwm_out/")
|
||||||
|
list(FILTER yaml_config_files EXCLUDE REGEX ".*/spacecraft/")
|
||||||
|
|
||||||
add_custom_target(metadata_parameters
|
add_custom_target(metadata_parameters
|
||||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
|
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
|
||||||
|
|||||||
@@ -270,6 +270,14 @@ ControlAllocator::update_effectiveness_source()
|
|||||||
tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
|
tmp = new ActuatorEffectivenessHelicopterCoaxial(this);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
case EffectivenessSource::SPACECRAFT_2D:
|
||||||
|
// spacecraft_allocation does allocation and publishes directly to actuator_motors topic
|
||||||
|
break;
|
||||||
|
|
||||||
|
case EffectivenessSource::SPACECRAFT_3D:
|
||||||
|
// spacecraft_allocation does allocation and publishes directly to actuator_motors topic
|
||||||
|
break;
|
||||||
|
|
||||||
default:
|
default:
|
||||||
PX4_ERR("Unknown airframe");
|
PX4_ERR("Unknown airframe");
|
||||||
break;
|
break;
|
||||||
|
|||||||
@@ -158,6 +158,8 @@ private:
|
|||||||
HELICOPTER_TAIL_ESC = 10,
|
HELICOPTER_TAIL_ESC = 10,
|
||||||
HELICOPTER_TAIL_SERVO = 11,
|
HELICOPTER_TAIL_SERVO = 11,
|
||||||
HELICOPTER_COAXIAL = 12,
|
HELICOPTER_COAXIAL = 12,
|
||||||
|
SPACECRAFT_2D = 13,
|
||||||
|
SPACECRAFT_3D = 14,
|
||||||
};
|
};
|
||||||
|
|
||||||
enum class FailureMode {
|
enum class FailureMode {
|
||||||
|
|||||||
@@ -31,6 +31,8 @@ parameters:
|
|||||||
11: Helicopter (tail Servo)
|
11: Helicopter (tail Servo)
|
||||||
12: Helicopter (Coaxial)
|
12: Helicopter (Coaxial)
|
||||||
13: Rover (Mecanum)
|
13: Rover (Mecanum)
|
||||||
|
14: Spacecraft 2D
|
||||||
|
15: Spacecraft 3D
|
||||||
default: 0
|
default: 0
|
||||||
|
|
||||||
CA_METHOD:
|
CA_METHOD:
|
||||||
|
|||||||
@@ -0,0 +1,51 @@
|
|||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||||
|
|
||||||
|
px4_add_module(
|
||||||
|
MODULE modules__spacecraft
|
||||||
|
MAIN spacecraft
|
||||||
|
COMPILE_FLAGS
|
||||||
|
${MAX_CUSTOM_OPT_LEVEL}
|
||||||
|
STACK_MAIN
|
||||||
|
3000
|
||||||
|
SRCS
|
||||||
|
SpacecraftHandler.cpp
|
||||||
|
SpacecraftHandler.hpp
|
||||||
|
MODULE_CONFIG
|
||||||
|
module.yaml
|
||||||
|
DEPENDS
|
||||||
|
mathlib
|
||||||
|
px4_work_queue
|
||||||
|
)
|
||||||
@@ -0,0 +1,12 @@
|
|||||||
|
menuconfig MODULES_SPACECRAFT
|
||||||
|
bool "SPACECRAFT"
|
||||||
|
default n
|
||||||
|
---help---
|
||||||
|
Enable support for spacecraft
|
||||||
|
|
||||||
|
menuconfig USER_SPACECRAFT
|
||||||
|
bool "spacecraft running as userspace module"
|
||||||
|
default y
|
||||||
|
depends on BOARD_PROTECTED && MODULES_SPACECRAFT
|
||||||
|
---help---
|
||||||
|
Put SPACECRAFT in userspace memory
|
||||||
@@ -0,0 +1,91 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file SpacecraftHandler.cpp
|
||||||
|
*
|
||||||
|
* Control allocator.
|
||||||
|
*
|
||||||
|
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "SpacecraftHandler.hpp"
|
||||||
|
|
||||||
|
int SpacecraftHandler::task_spawn(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int SpacecraftHandler::print_status()
|
||||||
|
{
|
||||||
|
PX4_INFO("Running");
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int SpacecraftHandler::custom_command(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
return print_usage("unknown command");
|
||||||
|
}
|
||||||
|
|
||||||
|
int SpacecraftHandler::print_usage(const char *reason)
|
||||||
|
{
|
||||||
|
if (reason) {
|
||||||
|
PX4_WARN("%s\n", reason);
|
||||||
|
}
|
||||||
|
|
||||||
|
PRINT_MODULE_DESCRIPTION(
|
||||||
|
R"DESCR_STR(
|
||||||
|
### Description
|
||||||
|
This implements control allocation for spacecraft vehicles.
|
||||||
|
It takes torque and thrust setpoints as inputs and outputs
|
||||||
|
actuator setpoint messages.
|
||||||
|
)DESCR_STR"
|
||||||
|
);
|
||||||
|
|
||||||
|
PRINT_MODULE_USAGE_NAME("spacecraft", "controller");
|
||||||
|
PRINT_MODULE_USAGE_COMMAND("start");
|
||||||
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Control Allocator app start / stop handling function
|
||||||
|
*/
|
||||||
|
extern "C" __EXPORT int spacecraft_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
int spacecraft_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
return SpacecraftHandler::main(argc, argv);
|
||||||
|
}
|
||||||
@@ -0,0 +1,87 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file ControlAllocator.hpp
|
||||||
|
*
|
||||||
|
* Control allocator.
|
||||||
|
*
|
||||||
|
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <lib/matrix/matrix/math.hpp>
|
||||||
|
#include <lib/perf/perf_counter.h>
|
||||||
|
#include <px4_platform_common/px4_config.h>
|
||||||
|
#include <px4_platform_common/module.h>
|
||||||
|
#include <px4_platform_common/module_params.h>
|
||||||
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||||
|
#include <uORB/Publication.hpp>
|
||||||
|
#include <uORB/PublicationMulti.hpp>
|
||||||
|
#include <uORB/Subscription.hpp>
|
||||||
|
#include <uORB/SubscriptionCallback.hpp>
|
||||||
|
#include <uORB/topics/actuator_motors.h>
|
||||||
|
#include <uORB/topics/actuator_servos.h>
|
||||||
|
#include <uORB/topics/actuator_servos_trim.h>
|
||||||
|
#include <uORB/topics/control_allocator_status.h>
|
||||||
|
#include <uORB/topics/parameter_update.h>
|
||||||
|
#include <uORB/topics/vehicle_control_mode.h>
|
||||||
|
#include <uORB/topics/vehicle_torque_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_thrust_setpoint.h>
|
||||||
|
#include <uORB/topics/vehicle_status.h>
|
||||||
|
#include <uORB/topics/failure_detector_status.h>
|
||||||
|
|
||||||
|
class SpacecraftHandler : public ModuleBase<SpacecraftHandler>, public ModuleParams, public px4::ScheduledWorkItem
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
SpacecraftHandler();
|
||||||
|
|
||||||
|
virtual ~SpacecraftHandler();
|
||||||
|
|
||||||
|
/** @see ModuleBase */
|
||||||
|
static int task_spawn(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/** @see ModuleBase */
|
||||||
|
static int custom_command(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/** @see ModuleBase */
|
||||||
|
static int print_usage(const char *reason = nullptr);
|
||||||
|
|
||||||
|
/** @see ModuleBase::print_status() */
|
||||||
|
int print_status() override;
|
||||||
|
|
||||||
|
private: /**< loop duration performance counter */
|
||||||
|
|
||||||
|
};
|
||||||
@@ -0,0 +1,235 @@
|
|||||||
|
__max_num_mc_motors: &max_num_mc_motors 12
|
||||||
|
__max_num_thrusters: &max_num_thrusters 12
|
||||||
|
__max_num_servos: &max_num_servos 8
|
||||||
|
__max_num_tilts: &max_num_tilts 4
|
||||||
|
|
||||||
|
module_name: Control Allocation
|
||||||
|
|
||||||
|
parameters:
|
||||||
|
- group: Geometry
|
||||||
|
definitions:
|
||||||
|
CA_AIRFRAME:
|
||||||
|
description:
|
||||||
|
short: Airframe selection
|
||||||
|
long: |
|
||||||
|
Defines which mixer implementation to use.
|
||||||
|
Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
|
||||||
|
|
||||||
|
'Custom' should only be used if noting else can be used.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Multirotor
|
||||||
|
1: Fixed-wing
|
||||||
|
2: Standard VTOL
|
||||||
|
3: Tiltrotor VTOL
|
||||||
|
4: Tailsitter VTOL
|
||||||
|
5: Rover (Ackermann)
|
||||||
|
6: Rover (Differential)
|
||||||
|
7: Motors (6DOF)
|
||||||
|
8: Multirotor with Tilt
|
||||||
|
9: Custom
|
||||||
|
10: Helicopter (tail ESC)
|
||||||
|
11: Helicopter (tail Servo)
|
||||||
|
12: Helicopter (Coaxial)
|
||||||
|
13: Rover (Mecanum)
|
||||||
|
14: Spacecraft 2D
|
||||||
|
15: Spacecraft 3D
|
||||||
|
default: 14
|
||||||
|
|
||||||
|
CA_METHOD:
|
||||||
|
description:
|
||||||
|
short: Control allocation method
|
||||||
|
long: |
|
||||||
|
Selects the algorithm and desaturation method.
|
||||||
|
If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Pseudo-inverse with output clipping
|
||||||
|
1: Pseudo-inverse with metric allocation
|
||||||
|
2: Automatic
|
||||||
|
default: 1
|
||||||
|
|
||||||
|
CA_R_REV:
|
||||||
|
description:
|
||||||
|
short: Bidirectional/Reversible motors
|
||||||
|
long: |
|
||||||
|
Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
|
||||||
|
type: bitmask
|
||||||
|
bit:
|
||||||
|
0: Motor 1
|
||||||
|
1: Motor 2
|
||||||
|
2: Motor 3
|
||||||
|
3: Motor 4
|
||||||
|
4: Motor 5
|
||||||
|
5: Motor 6
|
||||||
|
6: Motor 7
|
||||||
|
7: Motor 8
|
||||||
|
8: Motor 9
|
||||||
|
9: Motor 10
|
||||||
|
10: Motor 11
|
||||||
|
11: Motor 12
|
||||||
|
default: 0
|
||||||
|
|
||||||
|
# (SC) Thrusters
|
||||||
|
CA_THRUSTER_CNT:
|
||||||
|
description:
|
||||||
|
short: Total number of thrusters
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: '0'
|
||||||
|
1: '1'
|
||||||
|
2: '2'
|
||||||
|
3: '3'
|
||||||
|
4: '4'
|
||||||
|
5: '5'
|
||||||
|
6: '6'
|
||||||
|
7: '7'
|
||||||
|
8: '8'
|
||||||
|
9: '9'
|
||||||
|
10: '10'
|
||||||
|
11: '11'
|
||||||
|
12: '12'
|
||||||
|
default: 0
|
||||||
|
CA_THRUSTER${i}_PX:
|
||||||
|
description:
|
||||||
|
short: Position of thruster ${i} along X body axis
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
unit: m
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: 0.0
|
||||||
|
CA_THRUSTER${i}_PY:
|
||||||
|
description:
|
||||||
|
short: Position of thruster ${i} along Y body axis
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
unit: m
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: 0.0
|
||||||
|
CA_THRUSTER${i}_PZ:
|
||||||
|
description:
|
||||||
|
short: Position of thruster ${i} along Z body axis
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
unit: m
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: 0.0
|
||||||
|
CA_THRUSTER${i}_AX:
|
||||||
|
description:
|
||||||
|
short: Axis of thruster ${i} thrust vector, X body axis component
|
||||||
|
long: Only the direction is considered (the vector is normalized).
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: 0.0
|
||||||
|
CA_THRUSTER${i}_AY:
|
||||||
|
description:
|
||||||
|
short: Axis of thruster ${i} thrust vector, Y body axis component
|
||||||
|
long: Only the direction is considered (the vector is normalized).
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: 0.0
|
||||||
|
CA_THRUSTER${i}_AZ:
|
||||||
|
description:
|
||||||
|
short: Axis of thruster ${i} thrust vector, Z body axis component
|
||||||
|
long: Only the direction is considered (the vector is normalized).
|
||||||
|
type: float
|
||||||
|
decimal: 2
|
||||||
|
increment: 0.1
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: -100
|
||||||
|
max: 100
|
||||||
|
default: -1.0
|
||||||
|
|
||||||
|
CA_THRUSTER${i}_CT:
|
||||||
|
description:
|
||||||
|
short: Thrust coefficient of rotor ${i}
|
||||||
|
long: |
|
||||||
|
The thrust coefficient if defined as Thrust = CT * u^2,
|
||||||
|
where u (with value between actuator minimum and maximum)
|
||||||
|
is the output signal sent to the motor controller.
|
||||||
|
type: float
|
||||||
|
decimal: 1
|
||||||
|
increment: 1
|
||||||
|
num_instances: *max_num_thrusters
|
||||||
|
min: 0
|
||||||
|
max: 100
|
||||||
|
default: 6.5
|
||||||
|
|
||||||
|
# Mixer
|
||||||
|
mixer:
|
||||||
|
actuator_types:
|
||||||
|
motor:
|
||||||
|
functions: 'Motor'
|
||||||
|
actuator_testing_values:
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
default_is_nan: true
|
||||||
|
DEFAULT:
|
||||||
|
actuator_testing_values:
|
||||||
|
min: -1
|
||||||
|
max: 1
|
||||||
|
default: -1
|
||||||
|
|
||||||
|
config:
|
||||||
|
param: CA_AIRFRAME
|
||||||
|
types:
|
||||||
|
14: # Spacecraft 2D
|
||||||
|
title: 'Spacecraft 2D'
|
||||||
|
actuators:
|
||||||
|
- actuator_type: 'motor'
|
||||||
|
count: 'CA_THRUSTER_CNT' # count would be too long for 16 max size
|
||||||
|
per_item_parameters:
|
||||||
|
standard:
|
||||||
|
position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
|
||||||
|
extra:
|
||||||
|
- name: 'CA_THRUSTER${i}_AX'
|
||||||
|
label: 'Axis X'
|
||||||
|
function: 'axisx'
|
||||||
|
advanced: true
|
||||||
|
- name: 'CA_THRUSTER${i}_AY'
|
||||||
|
label: 'Axis Y'
|
||||||
|
function: 'axisy'
|
||||||
|
advanced: true
|
||||||
|
- name: 'CA_THRUSTER${i}_AZ'
|
||||||
|
label: 'Axis Z'
|
||||||
|
function: 'axisz'
|
||||||
|
advanced: true
|
||||||
|
|
||||||
|
15: # Sapcecraft 3D
|
||||||
|
title: 'Spacecraft 3D'
|
||||||
|
actuators:
|
||||||
|
- actuator_type: 'motor'
|
||||||
|
count: 'CA_THRUSTER_CNT'
|
||||||
|
per_item_parameters:
|
||||||
|
standard:
|
||||||
|
position: [ 'CA_THRUSTER${i}_PX', 'CA_THRUSTER${i}_PY', 'CA_THRUSTER${i}_PZ' ]
|
||||||
|
extra:
|
||||||
|
- name: 'CA_THRUSTER${i}_AX'
|
||||||
|
label: 'Axis X'
|
||||||
|
function: 'axisx'
|
||||||
|
advanced: true
|
||||||
|
- name: 'CA_THRUSTER${i}_AY'
|
||||||
|
label: 'Axis Y'
|
||||||
|
function: 'axisy'
|
||||||
|
advanced: true
|
||||||
|
- name: 'CA_THRUSTER${i}_AZ'
|
||||||
|
label: 'Axis Z'
|
||||||
|
function: 'axisz'
|
||||||
|
advanced: true
|
||||||
Reference in New Issue
Block a user