add ardupilot quadcopter command

.dockerignore

@@ -3,6 +3,7 @@
 
 # Include only specific folders/files
 !communicators/
+!configs/dynamics/
 
 !inno_sim_interface/
 

README.md

@@ -6,21 +6,24 @@ UAV HITL Simulator brings up a set of ROS packages, config files and instruction
 
 <img src="https://github.com/ZilantRobotics/innopolis_vtol_dynamics/wiki/assets/welcome/dynamics.png" alt="drawing"/>
 
-The key feature of this simulation is to run it in such a way that the hardware knows nothing about the simulation. This can be done with Cyphal/DroneCAN. It covers more PX4 modules than standard SITL and HITL.
+The key feature is to run the simulation on a real hardware and use the actual Cyphal/DroneCAN drivers, so the autopilot knows nothing about the simulation. It covers more PX4 modules than SITL and MAVLink HITL.
 
 **Purpose**
 
-- Simulation of UAV onboard systems at a low hardware level
-- Testing and debugging of UAV control systems using a CAN-bus
-- Development and testing of intelligent automatic control systems for UAVs
+- Testing autopilot peripheral drivers (DroneCAN or Cyphal)
+- Testing real hardware components (actuators, payload, power and electrical systems) in pair with control system
+- Communication Bus and Wiring Testing
+- Fault Injection and Safety Measures
+- Environmental and Durability Testing: Vibration Emulation, Long-Duration Endurance Runs
 - Training in the development and use of drones, including creating datasets and automated testing
 
-**Minimal requirements (for HITL only):**
+**Recommended requirements for HITL:**
 
-- Operating System: Linux based OS such as Ubuntu 22.04
-- Raspberry PI 4 is enough
+- Operating System: Pure Ubuntu 20.04, 22.04 or 24.04 installation is highly recommended; WSL and VM are not recommended
+- Docker: use regular Docker Engine, not Docker Desktop (because Docker Desktop relies on VM)
+- Performance: for HITL part even Raspberry PI 4 is enough
 
-**Recommended requirements (for HITL + 3D simulator):**
+**Recommended requirements for 3D simulator:**
 
 - Operating System: We've tailored the simulator for modern versions of Windows, Linux, and Mac. Choose the build that matches your OS.
 - CPU: Aim for an Intel i7 from the 11th or 12th generation. For those using AMD, any equivalent processor will suffice.
@@ -29,7 +32,7 @@ The key feature of this simulation is to run it in such a way that the hardware
 **Required hardware:**
 
 - Flight controller: fmu-v5, fmu-v6c or fmu-v6x
-- CAN-sniffer
+- CAN-sniffer: Zubax Babel is recommended, but other CAN-adapters can be suitable as well
 
 ## 1. USE CASES
 
@@ -308,12 +311,13 @@ Outdated manual instructions:
 
 | Version | ReleaseDate | Major changes |
 | ------- | ----------- | ------------- |
-| v0.9.0 | Dec .., 2024 | Add px4_fmu-v6c, px4_fmu-v6x, cuav_x7pro, cuav_nora support beside fmu-v5 |
-| v0.8.0 | Jun 10, 2024 | Update PX4 from v1.14 to v1.15 |
-| v0.7.0 | Oct 31, 2023 | Update PX4 from v1.13 to v1.14 |
-| v0.6.0 | Jul 16, 2023 | Add Octorotor dynamics, fault scenarios and Cyphal ESC feedback |
-| v0.5.0 | May 17, 2023 | Add Cyphal PX4 v1.13.0 quadcopter, update DroneCAN PX4 from v1.12.1 to v1.13.0 |
-| v0.4.0 | May 16, 2022 | Add Cyphal/DroneCAN custom version of Ardupilot |
-| v0.3.0 | Aug 25, 2021 | Add Docker |
-| v0.2.0 | Aug 17, 2021 | Update to public DroneCAN PX4 v1.12.1 |
-| v0.1.0 | Mar 18, 2021 | First public release for private custom version of DroneCAN PX4 v1.11.2, only CUAV V5+, SITL and HITL modes |
+| v0.10.0 | In progress... | Add ArduPilot support |
+| v0.9.0  | Dec 08, 2024 | Add px4_fmu-v6c, px4_fmu-v6x, cuav_x7pro, cuav_nora support beside fmu-v5 |
+| v0.8.0  | Jun 10, 2024 | Update PX4 from v1.14 to v1.15 |
+| v0.7.0  | Oct 31, 2023 | Update PX4 from v1.13 to v1.14 |
+| v0.6.0  | Jul 16, 2023 | Add Octorotor dynamics, fault scenarios and Cyphal ESC feedback |
+| v0.5.0  | May 17, 2023 | Add Cyphal PX4 v1.13.0 quadcopter, update DroneCAN PX4 from v1.12.1 to v1.13.0 |
+| v0.4.0  | May 16, 2022 | Add Cyphal/DroneCAN custom version of Ardupilot |
+| v0.3.0  | Aug 25, 2021 | Add Docker |
+| v0.2.0  | Aug 17, 2021 | Update to public DroneCAN PX4 v1.12.1 |
+| v0.1.0  | Mar 18, 2021 | First public release for private custom version of DroneCAN PX4 v1.11.2, only CUAV V5+, SITL and HITL modes |

configs/ardupilot_dronecan_params.yaml

@@ -0,0 +1,72 @@
+# Usage: autopilot-configurator --force-calibrate -v --params configs/ardupilot_dronecan_params.yaml
+# devid = bus_type * (1 << 0) + bus * (1 << 3) + address * (1 << 8) + devtype * (1 << 8)
+# bus_type = devid % 8 = 3
+# bus = (devid >> 3) % 32
+# address = (devid >> 8) % 256
+# devtype = (devid >> 16) % 256
+
+FRAME_CLASS         : 1.0         # Quadcopter
+CAN_D1_PROTOCOL     : 1.0         # DroneCAN
+CAN_D1_UC_ESC_BM    : 15.0        # For a Quadcopter
+CAN_D2_PROTOCOL     : 0.0         # Disable
+CAN_P1_DRIVER       : 1.0         # First driver
+CAN_P1_BITRATE      : 1000000.0
+BRD_SAFETY_DEFLT    : 0.0         # Disabled
+FS_THR_ENABLE       : 0.0         # Disabled
+GPS_TYPE            : 9.0         # DroneCAN
+ATC_RAT_RLL_P       : 0.08
+
+# Disable board sensors
+EK3_IMU_MASK        : 1.0
+INS_ENABLE_MASK     : 1.0
+INS_USE             : 1.0        # Enabled
+INS_USE2            : 0.0        # Disabled
+INS_USE3            : 0.0        # Disabled
+
+# CUAV X7 SPI Compass devid=1114642  bus_type=2 (SPI), bus=2, address=2    devtype=17
+# CAN Compass         devid=76291    bus_type=3 (CAN), bus=0, address=42   devtype=1
+COMPASS_DEV_ID      : 76291.0    # DroneCAN magnetometer
+COMPASS_PRIO1_ID    : 76291.0
+COMPASS_USE         : 1.0
+COMPASS_USE2        : 0.0
+COMPASS_USE3        : 0.0
+COMPASS_EXTERNAL    : 1.0
+COMPASS_EXTERN2     : 0.0
+COMPASS_EXTERN3     : 0.0
+COMPASS_USE         : 1.0
+COMPASS_USE2        : 0.0
+COMPASS_USE3        : 0.0
+COMPASS_DEC         : 0.0
+
+COMPASS_DIA_X       : 0.999
+COMPASS_DIA_Y       : 0.999
+COMPASS_DIA_Z       : 0.999
+
+COMPASS_ODI_X       : 0.001
+COMPASS_ODI_Y       : 0.001
+COMPASS_ODI_Z       : 0.001
+
+COMPASS_OFS_X       : 0.001
+COMPASS_OFS_Y       : 0.001
+COMPASS_OFS_Z       : 0.001
+
+# Use HITL IMU
+AHRS_TRIM_X         : 0.000214698069612496
+AHRS_TRIM_Y         : 0.000064728621509857
+AHRS_TRIM_Z         : 0.000000000000000000
+
+# CUAV X7 SPI INS     devid=3211786  bus_type=2 (SPI), bus=1, address=2    devtype=49
+# DroneCAN Accel      devid=3997955  bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=1    devtype=61 (DEVTYPE_UAVCAN)
+# DroneCAN Gyro       devid=3998211  bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=2    devtype=61 (DEVTYPE_UAVCAN)
+INS_ACC1_CALTEMP    : 0.000
+INS_ACCOFFS_X       : 0.001
+INS_ACCOFFS_Y       : 0.001
+INS_ACCOFFS_Z       : 0.001
+INS_ACCSCAL_X       : 0.999
+INS_ACCSCAL_Y       : 0.999
+INS_ACCSCAL_Z       : 0.999
+
+INS_GYR1_CALTEMP    : 0.000
+INS_GYROFFS_X       : 0.001
+INS_GYROFFS_Y       : 0.001
+INS_GYROFFS_Z       : 0.001

configs/dynamics/quadcopter_ardupilot/README.md

@@ -0,0 +1 @@
+# ArduPilot Quadcopter

configs/dynamics/quadcopter_ardupilot/params.yaml

@@ -0,0 +1,40 @@
+vehicle_mass :              2.0       # kg
+
+# This represents the response time of the motor to changes in input for brushless motors with ESCs
+# Higher-quality ESCs and motors may have a faster response (closer to 0.02 sec).
+# Slower or less efficient systems may be closer to 0.05 sec.
+motor_time_constant:        0.02      # sec
+
+# For a standard 10–12 inch propeller
+# This is the rotational inertia of the motor and propeller system.
+# It depends on the size and weight of the propeller and motor rotor:
+# Typical value: 0.00002–0.00006 kg·m²
+# Smaller drones with lighter props will have lower values.
+motor_rotational_inertia:   6.62e-6   # kg m^2
+thrust_coefficient:         1.91e-6   # N/(rad/s)^2"
+torque_coefficient:         2.6e-7    # Nm/(rad/s)^2
+drag_coefficient:           0.1       # N/(m/s)
+aeromoment_coefficient_xx:  0.003     # Nm/(rad/s)^2
+aeromoment_coefficient_yy:  0.003     # Nm/(rad/s)^2
+aeromoment_coefficient_zz:  0.003     # Nm/(rad/s)^2
+vehicle_inertia_xx:         0.045     # kg * m^2
+vehicle_inertia_yy:         0.045     # kg * m^2
+
+# Low value -> the yaw oscillations.
+# High value -> slow response on yaw inputs and it may feel "lazy" in maintaining the commanded yaw angle.
+vehicle_inertia_zz:         0.045     # kg * m^2
+
+max_prop_speed:             2200      # rad/s
+moment_process_noise:       1.25e-7   # (Nm)^2 s
+force_process_noise:        0.0005    # N^2 s"
+
+# The perpendicular distance between a force's line of action (such as thrust
+# or lift) and the center of mass (or the axis of rotation) of the UAV
+moment_arm:                 0.35      # m
+
+accelerometer_biasprocess:  0.0       # m^2/s^5, 1.0e-7
+gyroscope_biasprocess:      0.0       # rad^2/s^3, 1.0e-7
+accelerometer_biasinitvar:  0.00001   # (m/s^2)^2, 0.005
+gyroscope_biasinitvar:      0.00001   # (rad/s)^2, 0.003
+accelerometer_variance:     0.0001    # m^2/s^4, 0.001
+gyroscope_variance:         0.00001   # rad^2/s^2, 0.001

configs/vehicles/ap_copter_v4_5_7_dronecan.yaml

@@ -0,0 +1,5 @@
+params:
+mode: dronecan
+alias: ac
+sim_config: ap_copter_v4_5_7_dronecan
+info: ""

scripts/run_sim.sh

@@ -112,6 +112,18 @@ px4_v1_15_0_dronecan_quadrotor() {
         dynamics:=quadcopter
 }
 
+ap_copter_v4_5_7_dronecan() {
+    setup_ros
+    setup_dronecan_hitl
+    $SCRIPT_DIR/airframe_printer.sh 4001
+    roslaunch innopolis_vtol_dynamics hitl.launch   \
+        run_dronecan_communicator:=true             \
+        logging_type:=quadcopter                    \
+        vehicle_params:=$DYNAMICS_CONFIGS_DIR/quadcopter_ardupilot/params.yaml \
+        mixer:=direct_mixer                         \
+        dynamics:=quadcopter
+}
+
 px4_v1_15_0_cyphal_quadcopter() {
     setup_ros
     setup_cyphal_hitl
@@ -203,13 +215,16 @@ fi
 SCRIPT_DIR="$(dirname "$0")"
 REPO_DIR="$(dirname "$SCRIPT_DIR")"
 VEHICLE_PARAMS_DIR=$REPO_DIR/uav_dynamics/uav_hitl_dynamics/config/vehicle_params
+DYNAMICS_CONFIGS_DIR=$REPO_DIR/configs/dynamics
 
 if [ "$1" = "px4_v1_15_0_dronecan_quadplane_vtol" ]; then
     px4_v1_15_0_dronecan_quadplane_vtol
 elif [ "$1" = "px4_v1_13_0_dronecan_vtol" ]; then
     px4_v1_13_0_dronecan_vtol
 elif [ "$1" = "px4_v1_15_0_dronecan_quadrotor" ]; then
     px4_v1_15_0_dronecan_quadrotor
+elif [ "$1" = "ap_copter_v4_5_7_dronecan" ]; then
+    ap_copter_v4_5_7_dronecan
 elif [ "$1" = "px4_v1_15_0_cyphal_quadcopter" ]; then
     px4_v1_15_0_cyphal_quadcopter
 elif [ "$1" = "px4_v1_15_0_cyphal_octorotor" ]; then