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feat: spacecraft support (#24734)

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* rft: initial merging of controllers for spacecraft vehicles

* feat: rate controller nominal

* feat: spacecraft tooling for commander and VehicleStatus

* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: format

* fix: remove iostream

* fix: remove iostream

* feat: spacecraft attitude control and minor refactoring of params

* feat: add position controller

* fix: format

* fix: moved trajectories to new message, removed derivative filters

* fix: format

* fix: removed extra newline

* fix: spacecraft allocation builds

* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments

* feat: required changes for allocation

* feat: thruster simulation interface

* fix: update maximum and minimums

* fix: format

* fix: added newline at the end of spacecraft actuator effectiveness

* feat: configurable board pwm freq from Kconfig

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson)

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: add orbiter to define

* fix: change mav_type to new spacecraft orbiter enum value

* fix: build issue

* feat: update mavlink

* feat: update mavlink to latest master with spacecraft

* feat: update mavlink

* feat: update mavlink to latest

* feat: cleanup and synchronization with new mavlink vehicle definition

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format

* feat: cmake variant for spacecraft

* feat: proper mav_type and rc init

* fix: removed dart from build system

* add: thrusters to actuator type

* rft: reordering actuator type

* rft: initial merging of controllers for spacecraft vehicles

* feat: rate controller nominal

* fix: format

* feat: spacecraft attitude control and minor refactoring of params

* feat: add position controller

* fix: format

* fix: moved trajectories to new message, removed derivative filters

* fix: format

* fix: removed extra newline

* fix: spacecraft allocation builds

* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments

* feat: required changes for allocation

* feat: thruster simulation interface

* fix: update maximum and minimums

* fix: format

* fix: added newline at the end of spacecraft actuator effectiveness

* feat: configurable board pwm freq from Kconfig

* feat: add orbiter to define

* feat: cleanup and synchronization with new mavlink vehicle definition

* fix: get away without specifying spacecraft vehicle

* fix: conflicts

* fix: format

* fix: remove duplicate entry

* rft: remove Kconfig changes

* rft: revert main Kconfig

* rft: revert main kcoonfig on platforms

* rft: remove changes to board PWm (go on another PR)

* rft: revert changes to commander (main is correct)

* fix: extra char on commander_helper

* rft: removed extra spaces

* rft: moved effectiveness to spacecraft

* fix: spacecraft effectiveness

* fix: extra space

* feat: preliminary version, still using thrusters

* rft: initial pipeline on PX4 side with rotors instead of thrusters

* feat: add atmos model

* feat: spacecraft with rotor pipeline tested, working

* feat: update gz

* rft: removed thruster interfaces

* fix: format

* fix: remove control allocation

* fix: thruster normalization

* fix: format

* fix: nuttx version

* fix: clang tidy error

* feat: updated gz to add atmos model

* fix: update gz

* fix: update mavlink

* fix: remove friend class from allocation lib

* fix: remove actuator_outputs/motors

---------

Co-authored-by: Alexander Lerach <alexander@auterion.com>
This commit is contained in:
Pedro Roque
2025-07-23 08:26:27 -07:00
committed by GitHub
co-authored by Alexander Lerach
parent 6474e5d7c1
commit 2f55dff8b9
45 changed files with 5573 additions and 361 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/airframes/70001_atmos
+150
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@@ -0,0 +1,150 @@
#!/bin/sh
#
# @name KTH Space Robot
#
# @type Space Robot
# @class 2D Space Robot
#
# @maintainer DISCOWER
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 45
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set Mocap Vision frame
param set EKF2_EV_CTRL 15
param set EKF2_HGT_REF 3
# 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 1.4
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 1.4
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 1.4
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 1.4
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 1.4
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 1.4
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 1.4
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 1.4
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_AUX_TIM0 10
param set-default PWM_AUX_TIM1 10
param set-default PWM_AUX_TIM2 10
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_FUNC5 105
param set-default PWM_AUX_FUNC6 106
param set-default PWM_AUX_FUNC7 107
param set-default PWM_AUX_FUNC8 108
param set-default PWM_AUX_DIS1 0
param set-default PWM_AUX_DIS2 0
param set-default PWM_AUX_DIS3 0
param set-default PWM_AUX_DIS4 0
param set-default PWM_AUX_DIS5 0
param set-default PWM_AUX_DIS6 0
param set-default PWM_AUX_DIS7 0
param set-default PWM_AUX_DIS8 0
param set-default PWM_AUX_MIN1 0
param set-default PWM_AUX_MIN2 0
param set-default PWM_AUX_MIN3 0
param set-default PWM_AUX_MIN4 0
param set-default PWM_AUX_MIN5 0
param set-default PWM_AUX_MIN6 0
param set-default PWM_AUX_MIN7 0
param set-default PWM_AUX_MIN8 0
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
param set-default PWM_AUX_MAX1 10000
param set-default PWM_AUX_MAX2 10000
param set-default PWM_AUX_MAX3 10000
param set-default PWM_AUX_MAX4 10000
param set-default PWM_AUX_MAX5 10000
param set-default PWM_AUX_MAX6 10000
param set-default PWM_AUX_MAX7 10000
param set-default PWM_AUX_MAX8 10000
# 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/rc.sc_apps
+2 -28
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@@ -5,32 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Start Spacecraft App
control_allocator start
spacecraft start
# Estimator Group Selection
# ekf2 start &
# Start MicroDDS Client
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
# uxrce_dds_client start -t udp -p 8888
#
# Start Control Allocator
#
# sc_control_allocator start
#
# Start Spacecraft Rate Controller.
#
# sc_rate_control start
#
# Start Spacecraft Attitude Controller.
#
# sc_att_control start
#
# Start Spacecraft Position Controller.
#
# sc_pos_control start
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+1 -1
View File
@@ -69,7 +69,7 @@ then
fi
#
# Spapcecraft setup.
# Spacecraft setup.
#
if [ $VEHICLE_TYPE = spacecraft ]
then