boat: add module for rudder-steered boats

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -54,6 +54,13 @@ if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
 	)
 endif()
 
+if(CONFIG_MODULES_BOAT_RUDDER)
+	px4_add_romfs_files(
+		rc.boat_rudder_apps
+		rc.boat_rudder_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_FW_RATE_CONTROL)
 	px4_add_romfs_files(
 		rc.fw_apps
@@ -83,13 +90,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()
 
-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		rc.sc_apps
-		rc.sc_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps
@@ -97,6 +97,13 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()
 
+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/rc.boat_rudder_apps

@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a boat rudder.
+
+# Start boat rudder module.
+boat_rudder start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.boat_rudder_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Rudder-steered boats parameters.
+
+set VEHICLE_TYPE boat
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01