Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms

CMakeLists.txt

@@ -493,3 +493,27 @@ add_custom_target(install_python_requirements
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
 	include(finalize)
 endif()
+
+# Clear target folder
+set(INSTALL_DIR "${CMAKE_INSTALL_PREFIX}")
+file(GLOB RESULT_BUILD ${INSTALL_DIR})
+list(LENGTH RESULT_BUILD BUILD_RES_LEN)
+if(BUILD_RES_LEN GREATER 0)
+	message("Deleting target folder: ${INSTALL_DIR}")
+	file(REMOVE_RECURSE ${INSTALL_DIR})
+endif()
+
+# Install SITL build files
+file(GLOB RESULT build/*)
+list(LENGTH RESULT RES_LEN)
+if(RES_LEN GREATER 0)
+ install(DIRECTORY build/
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN ".svn" EXCLUDE)
+  # Install ROMFS
+ install(DIRECTORY ROMFS/
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN ".svn" EXCLUDE)
+else()
+	 message(STATUS "No PX4 build files to install.")
+endif()

ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter

@@ -7,7 +7,7 @@
 # @maintainer Jaeyoung Lim <[email protected]>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.sc_apps
 
 
 param set-default CA_AIRFRAME 0

ROMFS/px4fmu_common/init.d-posix/airframes/9000_gazebo-classic_2d_spacecraft

@@ -0,0 +1,110 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <[email protected]>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 13
+param set-default MAV_TYPE 24
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 255
+
+# 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
+
+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 1.75
+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 1.75
+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 1.75
+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 1.75
+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 1.75
+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 1.75
+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 1.75
+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 1.75
+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_MAIN_FUNC1 501
+param set-default PWM_MAIN_FUNC2 502
+param set-default PWM_MAIN_FUNC3 503
+param set-default PWM_MAIN_FUNC4 504
+param set-default PWM_MAIN_FUNC5 505
+param set-default PWM_MAIN_FUNC6 506
+param set-default PWM_MAIN_FUNC7 507
+param set-default PWM_MAIN_FUNC8 508
+
+# 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/9001_gazebo-classic_3d_spacecraft

@@ -0,0 +1,98 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <[email protected]>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 25
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+# 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
+
+param set-default CA_ROTOR0_PX 0.14435
+param set-default CA_ROTOR0_PY -0.14435
+param set-default CA_ROTOR0_KM 0.01697
+param set-default CA_ROTOR0_AX -0.788675
+param set-default CA_ROTOR0_AY -0.211325
+param set-default CA_ROTOR0_AZ -0.57735
+
+param set-default CA_ROTOR1_PX -0.14435
+param set-default CA_ROTOR1_PY -0.14435
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_AX 0.211325
+param set-default CA_ROTOR1_AY -0.788675
+param set-default CA_ROTOR1_AZ 0.57735
+
+param set-default CA_ROTOR2_PX 0.14435
+param set-default CA_ROTOR2_PY 0.14435
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_AX -0.211325
+param set-default CA_ROTOR2_AY 0.788675
+param set-default CA_ROTOR2_AZ 0.57735
+
+param set-default CA_ROTOR3_PX -0.14435
+param set-default CA_ROTOR3_PY 0.14435
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR3_AX 0.788675
+param set-default CA_ROTOR3_AY 0.211325
+param set-default CA_ROTOR3_AZ -0.57735
+
+param set-default CA_ROTOR4_PX 0.14435
+param set-default CA_ROTOR4_PY -0.14435
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 0.788675
+param set-default CA_ROTOR4_AY 0.211325
+param set-default CA_ROTOR4_AZ -0.57735
+
+param set-default CA_ROTOR5_PX -0.14435
+param set-default CA_ROTOR5_PY -0.14435
+param set-default CA_ROTOR5_KM 0.05
+param set-default CA_ROTOR5_AX -0.211325
+param set-default CA_ROTOR5_AY 0.788675
+param set-default CA_ROTOR5_AZ 0.57735
+
+param set-default CA_ROTOR6_PX 0.14435
+param set-default CA_ROTOR6_PY 0.14435
+param set-default CA_ROTOR6_KM 0.05
+param set-default CA_ROTOR6_AX 0.211325
+param set-default CA_ROTOR6_AY -0.788675
+param set-default CA_ROTOR6_AZ 0.57735
+
+param set-default CA_ROTOR7_PX -0.14435
+param set-default CA_ROTOR7_PY 0.14435
+param set-default CA_ROTOR7_KM 0.05
+param set-default CA_ROTOR7_AX -0.788675
+param set-default CA_ROTOR7_AY -0.211325
+param set-default CA_ROTOR7_AZ -0.57735
+
+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
+
+# 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/CMakeLists.txt

@@ -88,6 +88,8 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480.post
 
 	8011_gz_omnicopter
+	9000_gazebo-classic_2d_spacecraft
+	9001_gazebo-classic_3d_spacecraft
 
 	10015_gazebo-classic_iris
 	10016_none_iris

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -220,6 +220,7 @@ done
 
 if [ -e "$autostart_file" ]
 then
+	echo "INFO  [init] using autostart file: $autostart_file"
 	. "$autostart_file"
 
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
@@ -307,6 +308,10 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi
 
+# Refresh uxrce_dds_client if already running
+uxrce_dds_client stop
+
+# Start it for SITL setup
 uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
 
 if param greater -s MNT_MODE_IN -1

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -68,6 +68,14 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()
 
+if(CONFIG_MODULES_SC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		rc.rover_apps