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Dual redundant fc #731

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Dual redundant fc #731

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ce6d818
mavlink stream: Heartbeat system status should neglect the actuator_a…
KonradRudin May 24, 2023
8b39b26
Add new uORBs for redundant fc status (of type vehicle_status_s)
jlaitine Aug 6, 2024
7a65cbc
Add handling of heartbeats between redundant flight controllers
jlaitine Aug 6, 2024
5bca2eb
netconfig: Change IP addressing to match the new SSRC scheme
jlaitine Aug 6, 2024
9120ae8
Update ssrc submodules to start redundancy functionality
jlaitine Aug 6, 2024
af523c3
Gz setup for HITL redundancy
Aug 6, 2024
f63e63b
ssrc_config: Fixes for dual-redundancy support
jlaitine Aug 15, 2024
47794a8
px4-gzsim-plugin redundancy support
Aug 9, 2024
65e89d9
mavlink / redundancy: Add receiving actuator_outputs from other FCs
jlaitine Aug 16, 2024
ce57be6
Move publishing EscStatus from HIL_ACTUATOR_CONTROLS stream into PWMSim
jlaitine Aug 22, 2024
d542d84
pwm_esc: Add 'status' command
jlaitine Aug 22, 2024
2626db0
pwm_esc: Determine HITL mode directly from SYS_HITL parameter at star…
jlaitine Aug 22, 2024
ff6cfdb
pwm_esc: When running in HIL mode, output actuator_outputs_sim. Remov…
jlaitine Aug 22, 2024
e49cace
mavlink: Add handling of esc_status message
jlaitine Aug 16, 2024
221ce34
Add initial redundancy module
jlaitine Aug 19, 2024
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3 changes: 3 additions & 0 deletions .gitmodules
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Expand Up @@ -94,3 +94,6 @@
[submodule "Tools/simulation/gz/plugins/px4-gzsim-plugins"]
path = Tools/simulation/gz/plugins/px4-gzsim-plugins
url = https://github.com/tiiuae/px4-gzsim-plugins.git
[submodule "src/modules/redundancy"]
path = src/modules/redundancy
url = [email protected]:tiiuae/px4_redundancy.git
6 changes: 6 additions & 0 deletions Tools/simulation/gz/hitl_run.sh
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@@ -1,10 +1,16 @@
#!/bin/bash

GZ_SIM_SYSTEM_PLUGIN_PATH=$(pwd)/build/px4_sitl_default/build_gz-sim_plugins/
PX4_GZ_MODELS=$(pwd)/Tools/simulation/gz/models
PX4_GZ_WORLDS=$(pwd)/Tools/simulation/gz/worlds

#example for run
#./Tools/simulation/gz/hitl_run.sh x500/model_hitl.sdf

MODEL_PATH=$1



if [ -z $MODEL_PATH ]; then
echo "You should specify a path to the using model"
echo "./Tools/simulation/gz/hitl_run.sh x500/model_hitl.sdf"
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289 changes: 0 additions & 289 deletions Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf
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Expand Up @@ -605,256 +605,6 @@
</plugin>
<!--} END MOTOR PLUGINS -->

<!-- THIRD PERSON CAMERA {-->
<link name="camera_link">
<kinematic>1</kinematic>
<pose>-2 0 1 0 0.3 0</pose>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.0</ixx>
<iyy>0.0</iyy>
<izz>0.0</izz>
</inertia>
</inertial>
<sensor type="camera" name="third-person-camera">
<camera>
<horizontal_fov>1.7</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>1000</far>
</clip>
</camera>
<always_on>true</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<joint name='camera_joint' type='fixed'>
<kinematic>1</kinematic>
<child>camera_link</child>
<parent>base_link</parent>
<axis>
<xyz>50 -50 50</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<!--} END THIRD PERSON CAMERA -->

<!-- GIMBAL CAMERA {-->
<link name="gimbal_camera_link">
<pose>0 0 0 0 1.57 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<sensor type="camera" name="onboard-gimbal-camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>true</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<joint name='camera_joint_tilt' type='revolute'>
<child>gimbal_camera_link</child>
<parent>camera_link_pan</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<link name="camera_link_pan">
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<empty/>
</geometry>
<transparency>1</transparency>
</visual>
<collision name="collision">
<geometry>
<empty/>
</geometry>
</collision>
</link>
<joint name='camera_joint_pan' type='revolute'>
<child>camera_link_pan</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<!--} END GIMBAL CAMERA -->

<!-- RP LIDAR {-->
<link name="2d_scanner_link">
<pose>0 0 0.089 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<sensor name="rplidar" type="gpu_lidar">
<always_on>true</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-3.1241390751</min_angle>
<max_angle>3.1241390751</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>14</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
</sensor>
<visual name='rplidar_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/x500_rplidar.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='2d_scanner_joint' type='fixed'>
<child>2d_scanner_link</child>
<parent>base_link</parent>
</joint>
<!--} END RP LIDAR -->

<!-- GARMIN RANGEFINDER {-->
<link name="lidar0_link">
<pose>-0.007 -0.04 -0.039 0 1.5708 1.5708</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<visual name='garmin_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/garmin_lidar_v3.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<sensor name="garmin" type="gpu_lidar">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>-0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) -->
<max>35</max> <!-- do not change: use max_distance (below) for realistic behavior (bigger values cause issues) -->
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<!-- <plugin name="drone-placeholder-1_garmin" filename="libgazebo_lidar_plugin.so"> -->
<!-- <robotNamespace></robotNamespace> -->
<!-- <min_distance>0.1</min_distance> -->
<!-- <max_distance>30.0</max_distance> -->
<!-- </plugin> -->
</sensor>
</link>
<!-- name of the link for garmin has to contain lidar word to be detected by mavlink gazebo plugin -->
<joint name='lidar0_joint' type='fixed'>
<child>lidar0_link</child>
<parent>base_link</parent>
</joint>
<!--} END GARMIN RANGEFINDER -->

<plugin
filename="gz-sim-pose-publisher-system"
name="gz::sim::systems::PosePublisher">
Expand All @@ -871,45 +621,6 @@
<dimensions>3</dimensions>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>camera_joint_pan</joint_name>
<p_gain>1</p_gain>
<i_gain>0.1</i_gain>
<d_gain>0.01</d_gain>
<i_max>1</i_max>
<i_min>-1</i_min>
<cmd_max>1000</cmd_max>
<cmd_min>-1000</cmd_min>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>camera_joint_tilt</joint_name>
<p_gain>1</p_gain>
<i_gain>0.1</i_gain>
<d_gain>0.01</d_gain>
<i_max>1</i_max>
<i_min>-1</i_min>
<cmd_max>1000</cmd_max>
<cmd_min>-1000</cmd_min>
</plugin>

<plugin
filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
<joint_name>camera_joint_pan</joint_name>
</plugin>

<plugin
filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
<joint_name>camera_joint_tilt</joint_name>
</plugin>


<!--} END PLUGINS -->
</model>
</sdf>
8 changes: 5 additions & 3 deletions Tools/simulation/gz/models/ssrc_holybro_x500/model_hitl.sdf
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Expand Up @@ -8,10 +8,12 @@
<robotNamespace/>
<imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
<poseSubTopic>/pose/info</poseSubTopic>
<mavlink_addr>192.168.200.101</mavlink_addr>
<mavlink_udp_local_port>14542</mavlink_udp_local_port>
<mavlink_udp_remote_port>14543</mavlink_udp_remote_port>
<mavlink_addr>192.168.202.1</mavlink_addr>
<mavlink_udp_local_port>14561</mavlink_udp_local_port>
<mavlink_udp_remote_port>14560</mavlink_udp_remote_port>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<secondary_mavlink_addr>192.168.202.65</secondary_mavlink_addr>
<secondary_mavlink_udp_local_port>14562</secondary_mavlink_udp_local_port>
<use_tcp>0</use_tcp>
</plugin>
</model>
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2 changes: 1 addition & 1 deletion Tools/simulation/gz/plugins/px4-gzsim-plugins
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Submodule px4-gzsim-plugins updated 3 files
+16 −3 include/mavlink_interface.h
+12 −0 src/gazebo_mavlink_interface.cpp
+235 −50 src/mavlink_interface.cpp
2 changes: 1 addition & 1 deletion boards/ssrc/saluki-pi
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Submodule saluki-pi updated from 453404 to cbbb46
1 change: 1 addition & 0 deletions clone_public.sh
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Expand Up @@ -9,6 +9,7 @@ do
[[ "${repo}" == *pfsoc_crypto ]] || \
[[ "${repo}" == *pfsoc_keystore ]] || \
[[ "${repo}" == *pf_crypto ]] || \
[[ "${repo}" == src/modules/redundancy ]] || \
[[ "${repo}" == *process ]] && continue
git submodule update --init --recursive "${repo}"
done <<< "$(git submodule status | awk '{print $2}')"
1 change: 1 addition & 0 deletions msg/ActuatorOutputs.msg
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Expand Up @@ -6,3 +6,4 @@ float32[16] output # output data, in natural output units

# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
# TOPICS redundant_actuator_outputs0 redundant_actuator_outputs1
5 changes: 5 additions & 0 deletions msg/VehicleStatus.msg
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Expand Up @@ -122,3 +122,8 @@ bool calibration_enabled

bool pre_flight_checks_pass # true if all checks necessary to arm pass

# Maximum number of redundant (backup) flight controllers
uint8 MAX_REDUNDANT_CONTROLLERS = 2

# TOPICS vehicle_status
# TOPICS redundant_status0 redundant_status1
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