Update Flight-gear bridge, Add support of TF-G2 autogyro flight-gear model (#19122)

* Add Transfer of RPM from FG to PX4,
	-switch FG_bridge module to ThudnderFlyaerospace

* Add TF-G2 flightgear sim target

* Add simulator support, fix astyle

* Update SITL TF-G2 airframe, update fg bridge

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -0,0 +1,55 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+# ThunderFly TF-G2 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+#
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_STALL 5
+
+param set-default FW_P_RMAX_NEG 20.0
+param set-default FW_W_RMAX 10
+param set-default FW_W_EN 1
+
+param set-default FW_RR_P 0.08
+
+param set-default MIS_LTRMIN_ALT 50
+param set-default MIS_TAKEOFF_ALT 7
+
+param set-default NAV_ACC_RAD 20
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 0
+# Parameters related to autogyro takeoff PR
+#param set-default AG_TKOFF 1
+#param set-default AG_PROT_TYPE 1
+#param set-default AG_PROT_MIN_RPM 50.0
+#param set-default AG_PROT_TRG_RPM 900.0
+#param set-defoult AG_ROTOR_RPM 900.0
+
+param set-default FW_ARSP_SCALE_EN 0
+
+param set-default FW_AIRSPD_MAX 35
+param set-default FW_AIRSPD_MIN 7
+
+param set-default FW_P_LIM_MAX 25
+param set-default FW_P_LIM_MIN -5
+param set-default FW_R_LIM 30
+
+param set-default FW_MAN_P_MAX 30.0
+param set-default FW_MAN_R_MAX 30.0
+
+param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_IDLE 0
+param set-default COM_DISARM_PRFLT 0
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

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

@@ -78,6 +78,7 @@ px4_add_romfs_files(
 	3010_quadrotor_x
 	3011_hexarotor_x
 	17001_tf-g1
+	17002_tf-g2
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post

platforms/posix/cmake/sitl_target.cmake

@@ -394,6 +394,7 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 		rascal
 		rascal-electric
 		tf-g1
+		tf-g2
 		tf-r1
 	)
 	set(all_posix_vmd_make_targets)

src/modules/simulator/simulator.h

@@ -76,6 +76,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
+#include <uORB/topics/rpm.h>
 
 #include <random>
 
@@ -251,6 +252,9 @@ private:
 	uORB::Publication<vehicle_local_position_s>	_lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
 	uORB::Publication<input_rc_s>			_input_rc_pub{ORB_ID(input_rc)};
 
+	//rpm
+	uORB::Publication<rpm_s>			_rpm_pub{ORB_ID(rpm)};
+
 	// HIL GPS
 	static constexpr int MAX_GPS = 3;
 	uORB::PublicationMulti<sensor_gps_s>	*_sensor_gps_pubs[MAX_GPS] {};

src/modules/simulator/simulator_mavlink.cpp

@@ -424,6 +424,17 @@ void Simulator::handle_message(const mavlink_message_t *msg)
 	case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 		handle_message_hil_state_quaternion(msg);
 		break;
+
+	case MAVLINK_MSG_ID_RAW_RPM:
+		mavlink_raw_rpm_t rpm;
+		mavlink_msg_raw_rpm_decode(msg, &rpm);
+		rpm_s rpmmsg{};
+		rpmmsg.timestamp = hrt_absolute_time();
+		rpmmsg.indicated_frequency_rpm = rpm.frequency;
+		rpmmsg.estimated_accurancy_rpm = 0;
+
+		_rpm_pub.publish(rpmmsg);
+		break;
 	}
 }