Spaceraft Support: Modules for Space Robotics and thruster-based platforms

[Pedro-Roque]

Solved Problem

This PR addresses support on PX4 for Spacecrafts or other space systems that use Thrusters as their main actuators. These are particularly relevant for space robotics applications.

Modules for control (with appendix sc_ ) and Thruster actuation compatibility were added.

This PR aims at integrating these additions, which will soon be published and updated on the source code, into the PX4 ecosystem to support space robotics facilities.

Solution

• Add rate control, attitude control and position control for spacecraft-type vehicles (prefixed with ac_)
• Add Thruster Effectiveness in the control allocation module
• Add 2 simulation and one hardware airframes using these new modules

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

Reusing multicopter code. However, there are multiple problems associated with it:

1. Their actuation is not the same leading to different effectiveness models
2. Their PWM cycle is different than thruster-based platforms, which typically use solenoid-based valves
3. Their control can be different to take advantage of the lack of gravity
4. Their estimator is different since their model is, too

Test coverage

To-Do

• Unit/integration test: ...
• Simulation/hardware testing logs: https://review.px4.io/

Context

Currently being integrated in https://github.com/DISCOWER/PX4-Space-Systems/tree/dev-metric_control_allocator, as part of the DISCOWER project (a publication documenting this contribution as well as the entire lab facilities will be published by the end of August). Pictures and videos will be added soon.

[Pedro-Roque]

Moving this to a different PR branch on our side: #23117