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Merge branch 'main' of github.com:PX4/PX4-Autopilot into pr-fw_ctrl_api

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This commit is contained in:
RomanBapst
2025-02-04 11:10:04 +03:00
parent 67ac275a19 64d8f9a3c6
commit 37fe25570d
220 changed files with 3050 additions and 979 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
-4
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@@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+7 -12
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@@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SIH_T_MAX 6
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
@@ -33,18 +27,19 @@ param set-default SIH_KDV 0.2
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
-4
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@@ -28,10 +28,6 @@ param set-default MC_PITCH_P 5
param set-default MAV_TYPE 19
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SIH_T_MAX 2
param set-default SIH_Q_MAX 0.0165
param set-default SIH_MASS 0.2
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
+96
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@@ -0,0 +1,96 @@
#!/bin/sh
#
# @name SIH Standard VTOL
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default EKF2_GPS_DELAY 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 201
param set-default PWM_MAIN_FUNC6 202
param set-default PWM_MAIN_FUNC7 203
param set-default PWM_MAIN_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
# param set-default SYS_HITL 2
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
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@@ -109,6 +109,7 @@ px4_add_romfs_files(
10040_sihsim_quadx
10041_sihsim_airplane
10042_sihsim_xvert
10043_sihsim_standard_vtol
17001_flightgear_tf-g1
17002_flightgear_tf-g2
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+3
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@@ -4,6 +4,9 @@
# Simulator IMU data provided at 250 Hz
param set-default IMU_INTEG_RATE 250
# For simulation, allow registering modes while armed for developer convenience
param set-default COM_MODE_ARM_CHK 1
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
echo "INFO [init] SIH simulator"
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+9
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@@ -5,6 +5,15 @@
# @type Standard VTOL
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+9 -8
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@@ -17,15 +17,16 @@ param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set HIL_ACT_REV 1
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+92
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@@ -0,0 +1,92 @@
#!/bin/sh
#
# @name SIH Standard VTOL QuadPlane
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set UAVCAN_ENABLE 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 201
param set-default HIL_ACT_FUNC6 202
param set-default HIL_ACT_FUNC7 203
param set-default HIL_ACT_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1
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@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
1103_standard_vtol_sih.hil
)
endif()
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-1
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@@ -24,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GPS_CHECK 21
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_REQ_EPH 10
param set-default EKF2_REQ_EPV 10
ROMFS/px4fmu_common/init.d/rc.heli_defaults
+1
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@@ -12,6 +12,7 @@ param set-default MAV_TYPE 4
param set-default COM_PREARM_MODE 2
param set-default COM_SPOOLUP_TIME 10
param set-default COM_DISARM_PRFLT 60
# No need for minimum collective pitch (or airmode) to keep torque authority
param set-default MPC_MANTHR_MIN 0
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+3
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@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default GPS_UBX_DYNMODEL 6
# lower RNG_FOG since MC are expected to fly closer over obstacles
param set-default EKF2_RNG_FOG 1.0
ROMFS/px4fmu_common/init.d/rcS
+72 -58
View File
@@ -302,6 +302,75 @@ else
. $FCONFIG
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
#
if param greater SYS_HITL 0
then
sensors start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim start
fi
else
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
if param compare -s BAT1_SOURCE 2
then
esc_battery start
fi
if ! param compare BAT1_SOURCE 1
then
battery_status start
fi
sensors start
fi
#
# state estimator selection
#
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# px4io
#
if px4io supported
then
# Check if PX4IO present and update firmware if needed.
@@ -369,79 +438,24 @@ else
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
# Commander
#
if param greater SYS_HITL 0
then
commander start -h
if ! pwm_out_sim start -m hil
then
tune_control play error
fi
sensors start -h
commander start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim start
fi
else
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
if param compare -s BAT1_SOURCE 2
then
esc_battery start
fi
if ! param compare BAT1_SOURCE 1
then
battery_status start
fi
sensors start
commander start
dshot start
pwm_out start
fi
#
# state estimator selection
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.