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feat: spacecraft tooling for commander and VehicleStatus (#24716)

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* feat: spacecraft tooling for commander and VehicleStatus

* fix: format

* fix: remove iostream

* feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

feat: spacecraft tooling for commander and VehicleStatus

fix: format

fix: remove iostream

feat: mavlink compliant spacecraft definition

* feat: add orbiter to define

* feat: update mavlink to latest

* fix: get away without specifying spacecraft vehicle

* fix: removed unnecessary definition

* fix: format
This commit is contained in:
Pedro Roque 2025-06-12 21:48:48 +02:00 committed by GitHub
parent 6b2b20bd6e
commit 6d15019717
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GPG Key ID: B5690EEEBB952194
10 changed files with 22 additions and 163 deletions
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5
.vscode/cmake-variants.yaml vendored
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@ -6,6 +6,11 @@ CONFIG:
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
px4_sitl_spacecraft:
short: px4_sitl_spacecraft
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_spacecraft
px4_sitl_nolockstep:
short: px4_sitl_nolockstep
buildType: RelWithDebInfo

155
ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
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@ -1,155 +0,0 @@
#!/bin/sh
#
# @name 6DoF Spacecraft Model
#
# @type Freeflyer with 8 thrusters
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 15
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 12
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 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 thrusters
param set-default CA_THRUSTER0_PX -0.50
param set-default CA_THRUSTER0_PY 0.50
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 0.237
param set-default CA_THRUSTER0_AX 0.0
param set-default CA_THRUSTER0_AY -1.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.50
param set-default CA_THRUSTER1_PY 0.50
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 0.237
param set-default CA_THRUSTER1_AX 0.0
param set-default CA_THRUSTER1_AY -1.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX 0.50
param set-default CA_THRUSTER2_PY -0.50
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 0.237
param set-default CA_THRUSTER2_AX 0.0
param set-default CA_THRUSTER2_AY 1.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX -0.50
param set-default CA_THRUSTER3_PY -0.50
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 0.237
param set-default CA_THRUSTER3_AX 0.0
param set-default CA_THRUSTER3_AY 1.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX -0.50
param set-default CA_THRUSTER4_PY 0.0
param set-default CA_THRUSTER4_PZ -0.50
param set-default CA_THRUSTER4_CT 0.237
param set-default CA_THRUSTER4_AX 1.0
param set-default CA_THRUSTER4_AY 0.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.50
param set-default CA_THRUSTER5_PY 0.0
param set-default CA_THRUSTER5_PZ -0.50
param set-default CA_THRUSTER5_CT 0.237
param set-default CA_THRUSTER5_AX -1.0
param set-default CA_THRUSTER5_AY 0.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX 0.50
param set-default CA_THRUSTER6_PY 0.0
param set-default CA_THRUSTER6_PZ 0.50
param set-default CA_THRUSTER6_CT 0.237
param set-default CA_THRUSTER6_AX -1.0
param set-default CA_THRUSTER6_AY 0.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.50
param set-default CA_THRUSTER7_PY 0.0
param set-default CA_THRUSTER7_PZ 0.50
param set-default CA_THRUSTER7_CT 0.237
param set-default CA_THRUSTER7_AX 1.0
param set-default CA_THRUSTER7_AY 0.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default CA_THRUSTER8_PX 0.0
param set-default CA_THRUSTER8_PY -0.50
param set-default CA_THRUSTER8_PZ -0.50
param set-default CA_THRUSTER8_CT 0.237
param set-default CA_THRUSTER8_AX 0.0
param set-default CA_THRUSTER8_AY 0.0
param set-default CA_THRUSTER8_AZ 1.0
param set-default CA_THRUSTER9_PX 0.0
param set-default CA_THRUSTER9_PY 0.50
param set-default CA_THRUSTER9_PZ -0.50
param set-default CA_THRUSTER9_CT 0.237
param set-default CA_THRUSTER9_AX 0.0
param set-default CA_THRUSTER9_AY 0.0
param set-default CA_THRUSTER9_AZ 1.0
param set-default CA_THRUSTER10_PX 0.0
param set-default CA_THRUSTER10_PY 0.50
param set-default CA_THRUSTER10_PZ 0.50
param set-default CA_THRUSTER10_CT 0.237
param set-default CA_THRUSTER10_AX 0.0
param set-default CA_THRUSTER10_AY 0.0
param set-default CA_THRUSTER10_AZ -1.0
param set-default CA_THRUSTER11_PX 0.0
param set-default CA_THRUSTER11_PY -0.50
param set-default CA_THRUSTER11_PZ 0.50
param set-default CA_THRUSTER11_CT 0.237
param set-default CA_THRUSTER11_AX 0.0
param set-default CA_THRUSTER11_AY 0.0
param set-default CA_THRUSTER11_AZ -1.0
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 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
param set-default PWM_MAIN_FUNC9 109
param set-default PWM_MAIN_FUNC10 110
param set-default PWM_MAIN_FUNC11 111
param set-default PWM_MAIN_FUNC12 112
# PWM Simulation
param set PWM_SIM_PWM_MAX 10000
param set PWM_SIM_PWM_MIN 0
# 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

2
ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
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@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default MAV_TYPE 45
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -114,7 +114,6 @@ px4_add_romfs_files(
17001_flightgear_tf-g1
17002_flightgear_tf-g2
71001_gazebo-classic_spacecraft_dart
71002_gz_spacecraft_2d
# [22000, 22999] Reserve for custom models

2
ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d
View File

@ -11,7 +11,7 @@
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default MAV_TYPE 45
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0

6
ROMFS/px4fmu_common/init.d/rc.sc_defaults
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@ -3,10 +3,10 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE sc
set VEHICLE_TYPE spacecraft
# MAV_TYPE_QUADROTOR 2
#param set-default MAV_TYPE 12
# MAV_TYPE_SPACECRAFT_ORBITTER
param set-default MAV_TYPE 45
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
param set-default UXRCE_DDS_AG_IP -1062731775

9
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
View File

@ -68,6 +68,15 @@ then
. ${R}etc/init.d/rc.vtol_apps
fi
#
# Spapcecraft setup.
#
if [ $VEHICLE_TYPE = spacecraft ]
then
# Start standard multicopter apps.
. ${R}etc/init.d/rc.sc_apps
fi
#
# Airship setup.
#

1
msg/versioned/VehicleStatus.msg
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@ -89,6 +89,7 @@ uint8 HIL_STATE_ON = 1
# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3

2
src/modules/commander/Commander.cpp
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@ -688,7 +688,7 @@ Commander::Commander() :
_vehicle_status.system_id = 1;
_vehicle_status.component_id = 1;
_vehicle_status.system_type = 0;
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNSPECIFIED;
_vehicle_status.nav_state = _user_mode_intention.get();
_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
_vehicle_status.nav_state_timestamp = hrt_absolute_time();

2
src/modules/mavlink/mavlink

@ -1 +1 @@
Subproject commit 5bfd76d80281f6027134e854aafe6cb3dbfbe9e1
Subproject commit 067abb83cd2755f0e49491032d63438c64fd0aed