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add support for unmanned underwater vehicles (#14079)

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* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module  uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
This commit is contained in:
Daniel Duecker
2020-02-04 23:24:37 -05:00
committed by GitHub
parent a82428c5fd
commit 36f836be79
23 changed files with 1072 additions and 31 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4
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@@ -1370,6 +1370,10 @@ void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type
thrust_body_array[2] = -thrust;
break;
case MAV_TYPE_SUBMARINE:
thrust_body_array[0] = thrust;
break;
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR: