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refactor mixer, add px4 v1.14 dronecan vtol
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@PonomarevDA
PonomarevDA committed Sep 27, 2023
1 parent 6754971 commit 7c8cbfd
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Showing 18 changed files with 110 additions and 50 deletions.
1 change: 1 addition & 0 deletions Dockerfile
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Expand Up @@ -53,6 +53,7 @@ COPY catkin_build.sh catkin_build.sh
COPY uav_dynamics/inno_vtol_dynamics/libs uav_dynamics/inno_vtol_dynamics/libs
COPY uav_dynamics/inno_vtol_dynamics/meshes uav_dynamics/inno_vtol_dynamics/meshes
COPY uav_dynamics/inno_vtol_dynamics/src uav_dynamics/inno_vtol_dynamics/src
COPY uav_dynamics/inno_vtol_dynamics/tests uav_dynamics/inno_vtol_dynamics/tests
COPY uav_dynamics/inno_vtol_dynamics/urdf uav_dynamics/inno_vtol_dynamics/urdf
COPY uav_dynamics/inno_vtol_dynamics/CMakeLists.txt uav_dynamics/inno_vtol_dynamics/CMakeLists.txt
COPY uav_dynamics/inno_vtol_dynamics/package.xml uav_dynamics/inno_vtol_dynamics/package.xml
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2 changes: 1 addition & 1 deletion communicators/uavcan_communicator
Submodule uavcan_communicator updated 10 files
+7 −8 .github/workflows/catkin_build.yml
+11 −10 README.md
+3 −2 config/example_params.yaml
+1 −1 launch/example_communicator.launch
+4 −2 scripts/Dockerfile
+1 −1 scripts/docker.sh
+3 −12 scripts/install_requirements.sh
+43 −23 src/uavcan_communicator/converters.cpp
+15 −3 src/uavcan_communicator/converters.hpp
+1 −1 src/uavcan_communicator/uavcan_node.cpp
2 changes: 1 addition & 1 deletion configs/px4_common.yaml → configs/px4/common.yaml
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Expand Up @@ -4,4 +4,4 @@ COM_ARM_CHK_ESCS: 0
CBRK_IO_SAFETY: 22027
SYS_BOARD_SENS: 0
COM_RC_IN_MODE: 1
FD_ACT_EN: 1 # Enable Actuator Failure check
FD_ACT_EN: 0 # Enable Actuator Failure check
0 configs/px4_cyphal.yaml → configs/px4/cyphal.yaml
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0 configs/px4_dronecan.yaml → configs/px4/dronecan.yaml
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0 configs/px4_v1.13_inno_vtol_airframe.yaml → configs/px4/v1.13/vtol_13070/airframe.yaml
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5 changes: 5 additions & 0 deletions configs/px4/v1.14/octorotor/README.md
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@@ -0,0 +1,5 @@
# Generic 10" Octo coaxial (12001)

## Airframe

<img src="https://docs.px4.io/main/assets/img/OctoRotorXCoaxial.8b17ef1e.svg" alt="drawing" width="240"/>
9 changes: 5 additions & 4 deletions configs/px4_v1.14_octorotor_airframe.yaml → configs/px4/v1.14/octorotor/airframe.yaml
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@@ -1,5 +1,10 @@
SYS_AUTOSTART: 12001

MC_YAWRATE_P: 0.2
MC_YAWRATE_I: 0.1
MC_YAWRATE_MAX: 200.0

# For Cyphal
UCAN1_ESC_FUNC1: 101
UCAN1_ESC_FUNC2: 102
UCAN1_ESC_FUNC3: 103
Expand All @@ -8,7 +13,3 @@ UCAN1_ESC_FUNC5: 105
UCAN1_ESC_FUNC6: 106
UCAN1_ESC_FUNC7: 107
UCAN1_ESC_FUNC8: 108

MC_YAWRATE_P: 0.2
MC_YAWRATE_I: 0.1
MC_YAWRATE_MAX: 200.0
5 changes: 5 additions & 0 deletions configs/px4/v1.14/quadcopter/README.md
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@@ -0,0 +1,5 @@
# Generic Quadcopter X (4001)

## Airframe

<img src="https://docs.px4.io/main/assets/img/QuadRotorX.8e9a5495.svg" alt="drawing" width="240"/>
9 changes: 5 additions & 4 deletions configs/px4_v1.14_quadcopter_airframe.yaml → configs/px4/v1.14/quadcopter/airframe.yaml
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@@ -1,14 +1,15 @@
SYS_AUTOSTART: 4001

MC_YAWRATE_P: 0.2
MC_YAWRATE_I: 0.1
MC_YAWRATE_MAX: 200.0

# For Cyphal
UCAN1_ESC_FUNC1: 101
UCAN1_ESC_FUNC2: 102
UCAN1_ESC_FUNC3: 103
UCAN1_ESC_FUNC4: 104

MC_YAWRATE_P: 0.2
MC_YAWRATE_I: 0.1
MC_YAWRATE_MAX: 200.0

# For DroneCAN
UAVCAN_EC_FUNC1: 101
UAVCAN_EC_FUNC2: 102
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2 changes: 1 addition & 1 deletion configs/px4/v1.14/standard_vtol/README.md
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@@ -1,4 +1,4 @@
# Configs
# Generic Standard VTOL (13000)

## Airframe

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4 changes: 4 additions & 0 deletions configs/px4/v1.14/standard_vtol/airframe.yaml
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@@ -1,6 +1,7 @@
SYS_AUTOSTART: 13000

FW_AIRSPD_MAX: 35.0 # Max Airspeed (CAS)
FW_AIRSPD_TRIM: 25.0 # Trim (Cruise) Airspeed (CAS)
FW_AIRSPD_MIN: 20.0 # Minimum Airspeed (CAS)
FW_AIRSPD_STALL: 15.0 # Stall Airspeed (CAS)
NAV_LOITER_RAD: 150.0 # Loiter radius (FW only)
Expand All @@ -11,7 +12,10 @@ UAVCAN_EC_FUNC1: 101 # motor 1
UAVCAN_EC_FUNC2: 102 # motor 2
UAVCAN_EC_FUNC3: 103 # motor 3
UAVCAN_EC_FUNC4: 104 # motor 4

UAVCAN_EC_FUNC5: 105 # motor 5
UAVCAN_EC_MAX5: 4096 # motor 5

UAVCAN_SV_FUNC1: 201 # servo 1 (left aileron)
UAVCAN_SV_FUNC2: 202 # servo 2 (right aileron)
UAVCAN_SV_FUNC3: 203 # servo 3 (elevators)
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5 changes: 5 additions & 0 deletions configs/px4/v1.14/zilant_quadcopter/README.md
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@@ -0,0 +1,5 @@
# Generic Quadcopter X (4001)

## Airframe

<img src="https://docs.px4.io/main/assets/img/QuadRotorX.8e9a5495.svg" alt="drawing" width="240"/>
9 changes: 5 additions & 4 deletions ...s/px4_v1.14_inno_quadcopter_airframe.yaml → ...px4/v1.14/zilant_quadcopter/airframe.yaml
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@@ -1,10 +1,11 @@
SYS_AUTOSTART: 4001

MC_YAWRATE_P: 0.6
MC_YAWRATE_I: 0.02
MC_YAWRATE_MAX: 40.0

# For Cyphal
UCAN1_ESC_FUNC1: 101
UCAN1_ESC_FUNC2: 102
UCAN1_ESC_FUNC3: 103
UCAN1_ESC_FUNC4: 104

MC_YAWRATE_P: 0.6
MC_YAWRATE_I: 0.02
MC_YAWRATE_MAX: 40.0
40 changes: 25 additions & 15 deletions scripts/configure.sh
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Expand Up @@ -17,33 +17,41 @@ Automatical configuration:
configure_px4_v1_14_cyphal_quadcopter() {
wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_CYPHAL_URL
autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
${REPOSITORY_DIR}/configs/px4_v1.14_quadcopter_airframe.yaml \
${REPOSITORY_DIR}/configs/px4_cyphal.yaml \
${REPOSITORY_DIR}/configs/px4_common.yaml
${REPOSITORY_DIR}/configs/px4/v1.14/quadcopter/airframe.yaml \
${REPOSITORY_DIR}/configs/px4/cyphal.yaml \
${REPOSITORY_DIR}/configs/px4/common.yaml
}

configure_px4_v1_14_cyphal_octorotor() {
wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_CYPHAL_URL
autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
${REPOSITORY_DIR}/configs/px4_v1.14_octorotor_airframe.yaml \
${REPOSITORY_DIR}/configs/px4_cyphal.yaml \
${REPOSITORY_DIR}/configs/px4_common.yaml
${REPOSITORY_DIR}/configs/px4/v1.14/octorotor/airframe.yaml \
${REPOSITORY_DIR}/configs/px4/cyphal.yaml \
${REPOSITORY_DIR}/configs/px4/common.yaml
}

configure_px4_v1_14_dronecan_quadrotor() {
wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_DRONECAN_URL
autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
${REPOSITORY_DIR}/configs/px4_v1.14_quadcopter_airframe.yaml \
${REPOSITORY_DIR}/configs/px4_dronecan.yaml \
${REPOSITORY_DIR}/configs/px4_common.yaml
${REPOSITORY_DIR}/configs/px4/v1.14/quadcopter/airframe.yaml \
${REPOSITORY_DIR}/configs/px4/dronecan.yaml \
${REPOSITORY_DIR}/configs/px4/common.yaml
}

configure_px4_v1_12_dronecan_vtol() {
px4_v1_12_1_dronecan_vtol() {
wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_12_1_DRONECAN_URL
autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
${REPOSITORY_DIR}/configs/px4_v1.13_inno_vtol_airframe.yaml \
${REPOSITORY_DIR}/configs/px4_dronecan.yaml \
${REPOSITORY_DIR}/configs/px4_common.yaml
${REPOSITORY_DIR}/configs/px4/v1.13/vtol_13070/airframe.yaml \
${REPOSITORY_DIR}/configs/px4/dronecan.yaml \
${REPOSITORY_DIR}/configs/px4/common.yaml
}

px4_v1_14_0_beta_dronecan_vtol() {
wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_DRONECAN_URL
autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
${REPOSITORY_DIR}/configs/px4/v1.14/standard_vtol/airframe.yaml \
${REPOSITORY_DIR}/configs/px4/dronecan.yaml \
${REPOSITORY_DIR}/configs/px4/common.yaml
}

if [ -z $1 ]; then
Expand Down Expand Up @@ -83,8 +91,10 @@ elif [[ $1 == "cyphal_octorotor" ]]; then
configure_px4_v1_14_cyphal_octorotor
elif [[ $1 == "dronecan_quadrotor" ]]; then
configure_px4_v1_14_dronecan_quadrotor
elif [[ $1 == "dronecan_vtol" ]]; then
configure_px4_v1_12_dronecan_vtol
elif [[ $1 == "px4_v1_12_1_dronecan_vtol" ]]; then
px4_v1_12_1_dronecan_vtol
elif [[ $1 == "px4_v1_14_0_beta_dronecan_vtol" ]]; then
px4_v1_14_0_beta_dronecan_vtol
else
printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Unknown argument: '$1' $NC\n"
exit 1
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26 changes: 19 additions & 7 deletions scripts/docker.sh
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Expand Up @@ -17,11 +17,12 @@ Supported modes (with aliases):
-------------------------------------------------------------------------------
cyphal_quadrotor,cq | Cyphal PX4 v1.14-beta Quadrotor x (4001)
dronecan_quadrotor,dq | DroneCAN PX4 v1.14-beta Quadrotor (4001)
dronecan_vtol,dv | DroneCAN PX4 v1.12 inno_vtol
dronecan_vtol_v1_14_0,dv | DroneCAN PX4 v1.14-beta Standard VTOL (13000)
dronecan_vtol_v1_12_1,dvo | DroneCAN PX4 v1.12 vtol 13070
-------------------------------------------------------------------------------
cyphal_standard_vtol,csv | Cyphal PX4 v1.14-beta Standard VTOL (13000)
cyphal_octorotor,co | Cyphal PX4 v1.14-beta Octorotor Coaxial (12001)
sitl_inno_vtol | MAVLink PX4 v1.12 inno_vtol
sitl_inno_vtol | MAVLink PX4 v1.12 vtol 13070
sitl_flight_goggles | MAVLink PX4 v1.12 Quadrotor (4001)
cyphal_and_dronecan | 2 CAN AP v4.4.0 Copter
-------------------------------------------------------------------------------
Expand Down Expand Up @@ -121,13 +122,22 @@ push_docker_image() {
docker push $IMAGE_NAME
}

dronecan_vtol() {
dronecan_vtol_v1_12_1() {
kill_all_related_containers
setup_dronecan_hitl_config
if [[ $OPTIONS == "--force" ]]; then
./configure.sh dronecan_vtol
./configure.sh px4_v1_12_1_dronecan_vtol
fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh dronecan_inno_vtol
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh px4_v1_12_1_dronecan_vtol
}

dronecan_vtol_v1_14_0() {
kill_all_related_containers
setup_dronecan_hitl_config
if [[ $OPTIONS == "--force" ]]; then
./configure.sh px4_v1_14_0_beta_dronecan_vtol
fi
docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh px4_v1_14_0_beta_dronecan_vtol
}

dronecan_quadrotor() {
Expand Down Expand Up @@ -214,8 +224,10 @@ elif [ "$1" = "pull" ]; then
pull_docker_image
elif [ "$1" = "push" ]; then
push_docker_image
elif [ "$1" = "dronecan_vtol" ] || [ "$1" = "dv" ]; then
dronecan_vtol
elif [ "$1" = "dronecan_vtol_v1_12_1" ] || [ "$1" = "dvo" ]; then
dronecan_vtol_v1_12_1
elif [ "$1" = "dronecan_vtol_v1_14_0" ] || [ "$1" = "dv" ]; then
dronecan_vtol_v1_14_0
elif [ "$1" = "dronecan_quadrotor" ] || [ "$1" = "dq" ]; then
dronecan_quadrotor
elif [ "$1" = "sitl_inno_vtol" ]; then
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39 changes: 27 additions & 12 deletions scripts/run_sim.sh
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Expand Up @@ -5,12 +5,13 @@ print_help() {
It automatically run all auxilliary scripts required to each specific mode and source necessary setup.bash files.
It supports all possible simulator modes.
https://github.com/InnopolisAero/innopolis_vtol_dynamics
https://github.com/RaccoonlabDev/innopolis_vtol_dynamics
Usage: run_sim.sh <command>
Commands:
dronecan_inno_vtol Run dynamics simulator in DroneCan HITL mode for inno_vtol airframe
px4_v1_14_0_beta_dronecan_vtol Run dynamics simulator in DroneCan HITL mode for px4 vtol 13000 airframe
px4_v1_12_1_dronecan_vtol Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe
dronecan_flight_goggles Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe
cyphal_quadrotor Cyphal HITL PX4 Quadrotor (4001)
cyphal_octorotor Cyphal HITL PX4 Octorotor (12001)
Expand Down Expand Up @@ -82,16 +83,28 @@ setup_combined_hitl() {
fi
}

dronecan_inno_vtol() {
px4_v1_14_0_beta_dronecan_vtol() {
setup_ros
setup_dronecan_hitl
$SCRIPT_DIR/airframe_printer.sh 13000
roslaunch innopolis_vtol_dynamics hitl.launch \
run_dronecan_communicator:=true \
vehicle:=innopolis_vtol \
vehicle_params:=vtol_params \
mixer:=inno_vtol_mixer \
dynamics:=inno_vtol
mixer:=px4_v1_14_0_vtol_13000_mixer \
dynamics:=vtol_dynamics
}

px4_v1_12_1_dronecan_vtol() {
setup_ros
setup_dronecan_hitl
$SCRIPT_DIR/airframe_printer.sh 13000
roslaunch innopolis_vtol_dynamics hitl.launch \
run_dronecan_communicator:=true \
vehicle:=innopolis_vtol \
vehicle_params:=vtol_params \
mixer:=vtol_13070_mixer \
dynamics:=vtol_dynamics
}

dronecan_flight_goggles() {
Expand Down Expand Up @@ -139,7 +152,7 @@ cyphal_standard_vtol() {
vehicle:=innopolis_vtol \
vehicle_params:=vtol_params \
mixer:=direct_mixer \
dynamics:=inno_vtol
dynamics:=vtol_dynamics
}

cyphal_and_dronecan_inno_vtol() {
Expand All @@ -160,8 +173,8 @@ sitl_inno_vtol() {
roslaunch innopolis_vtol_dynamics sitl.launch \
vehicle:=innopolis_vtol \
vehicle_params:=vtol_params \
mixer:=inno_vtol_mixer \
dynamics:=inno_vtol \
mixer:=vtol_13070_mixer \
dynamics:=vtol_dynamics \
run_sitl_flight_stack:="false"
}

Expand All @@ -181,8 +194,8 @@ sitl_inno_vtol_with_flight_stack() {
roslaunch innopolis_vtol_dynamics sitl.launch \
vehicle:=innopolis_vtol \
vehicle_params:=quadrotor_params \
mixer:=inno_vtol_mixer \
dynamics:=inno_vtol \
mixer:=vtol_13070_mixer \
dynamics:=vtol_dynamics \
run_sitl_flight_stack:="true"
}

Expand All @@ -204,8 +217,10 @@ if [ "${BASH_SOURCE[0]}" -ef "$0" ]; then
fi
SCRIPT_DIR="$(dirname "$0")"

if [ "$1" = "dronecan_inno_vtol" ]; then
dronecan_inno_vtol
if [ "$1" = "px4_v1_14_0_beta_dronecan_vtol" ]; then
px4_v1_14_0_beta_dronecan_vtol
elif [ "$1" = "px4_v1_12_1_dronecan_vtol" ]; then
px4_v1_12_1_dronecan_vtol
elif [ "$1" = "dronecan_flight_goggles" ]; then
dronecan_flight_goggles
elif [ "$1" = "cyphal_quadrotor" ]; then
Expand Down
2 changes: 1 addition & 1 deletion uav_dynamics/inno_vtol_dynamics
Submodule inno_vtol_dynamics updated from 2419b7 to 8e2e9b

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