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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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feat: BlueROV2 Heavy updated control (attitude and position) and model (#25052)
* rft: clean merge to PX4 * fix: formatting * fix: extra line * fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle * feat: updated gazebo models to include bluerov update * fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build * fix: added saturation to thrust and torque messages via param * doc: updated parameters documentation for uuv * fix: formatting * feat: matching hardware reference * fix: thrusters kg * rft: removed commented lines * fix: update gz reference given hw setup * fix: hardware references * fix: recommendations * fix: updated settings to match hardware * rft: check only for fixed and rotary wing for high throttle Co-authored-by: Daniel Agar <daniel@agar.ca> * fix: commit oupsie * fix: format * rft: remove is_uuv * fix: hw parameters, uuv build target for v6x * feat: added support for D-pad attitude changes in stabilized position control * fix: position setpoint update and parametrized trajectory age and att change * fix: format * fix: removed duplicated call to check_validity_setpoint * fix: setpoint update on arming logic * fix: setpoint initialization for stabilized mode --------- Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Pedro Roque
co-authored by
Daniel Agar
Daniel Agar
parent
09fe34af0e
commit
e14eea5615
@@ -22,7 +22,7 @@
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. ${R}etc/init.d/rc.uuv_defaults
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param set-default MAV_1_CONFIG 102
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# param set-default MAV_1_CONFIG 102
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param set-default BAT1_A_PER_V 37.8798
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param set-default BAT1_CAPACITY 18000
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@@ -30,53 +30,93 @@ param set-default BAT1_V_DIV 11
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param set-default BAT1_N_CELLS 4
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param set-default BAT_V_OFFS_CURR 0.33
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# Set parameters using `param` utility for SITL
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param set-default CA_AIRFRAME 7
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param set-default CA_METHOD 0
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param set-default MAV_TYPE 12
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# Board rotation: set to direct replacement of RPi with PX4
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# with forward facing vehicle forward
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param set-default SENS_BOARD_ROT 16
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# Set proper failsafes
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param set-default COM_ACT_FAIL_ACT 0
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param set-default COM_LOW_BAT_ACT 0
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param set-default NAV_DLL_ACT 0
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param set-default GF_ACTION 1
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param set-default NAV_RCL_ACT 1
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param set-default COM_POSCTL_NAVL 2
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# disable attitude failure detection
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param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
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param set-default CA_ROTOR_COUNT 8
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param set-default CA_R_REV 255
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param set-default CA_ROTOR0_AX 1
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param set-default CA_ROTOR0_AY -1
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param set-default CA_ROTOR0_AZ 0
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param set-default CA_ROTOR0_KM 0
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param set-default CA_ROTOR0_PX 0.5
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param set-default CA_ROTOR0_PY 0.3
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param set-default CA_ROTOR0_PZ 0.2
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param set-default CA_ROTOR0_PX 0.14
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param set-default CA_ROTOR0_PY 0.10
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param set-default CA_ROTOR0_PZ 0.06
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param set-default CA_ROTOR1_AX 1
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param set-default CA_ROTOR1_AY 1
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param set-default CA_ROTOR1_AZ 0
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param set-default CA_ROTOR1_KM 0
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param set-default CA_ROTOR1_PX 0.5
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param set-default CA_ROTOR1_PY -0.3
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param set-default CA_ROTOR1_PZ 0.2
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param set-default CA_ROTOR1_PX 0.14
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param set-default CA_ROTOR1_PY -0.10
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param set-default CA_ROTOR1_PZ 0.06
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param set-default CA_ROTOR2_AX 1
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param set-default CA_ROTOR2_AY 1
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param set-default CA_ROTOR2_AZ 0
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param set-default CA_ROTOR2_KM 0
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param set-default CA_ROTOR2_PX -0.5
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param set-default CA_ROTOR2_PY 0.3
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param set-default CA_ROTOR2_PZ 0.2
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param set-default CA_ROTOR2_PX -0.14
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param set-default CA_ROTOR2_PY 0.10
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param set-default CA_ROTOR2_PZ 0.06
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param set-default CA_ROTOR3_AX 1
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param set-default CA_ROTOR3_AY -1
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param set-default CA_ROTOR3_AZ 0
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param set-default CA_ROTOR3_KM 0
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param set-default CA_ROTOR3_PX -0.5
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param set-default CA_ROTOR3_PY -0.3
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param set-default CA_ROTOR3_PZ 0.2
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param set-default CA_ROTOR3_PX -0.14
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param set-default CA_ROTOR3_PY -0.10
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param set-default CA_ROTOR3_PZ 0.06
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param set-default CA_ROTOR4_AX 0
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param set-default CA_ROTOR4_AY 0
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param set-default CA_ROTOR4_AZ -1
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param set-default CA_ROTOR4_KM 0
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param set-default CA_ROTOR4_PX 0.5
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param set-default CA_ROTOR4_PY 0.5
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param set-default CA_ROTOR4_PX 0.12
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param set-default CA_ROTOR4_PY 0.22
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param set-default CA_ROTOR4_PZ 0
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param set-default CA_ROTOR5_AX 0
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param set-default CA_ROTOR5_AY 0
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param set-default CA_ROTOR5_AZ 1
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param set-default CA_ROTOR5_KM 0
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param set-default CA_ROTOR5_PX 0.5
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param set-default CA_ROTOR5_PY -0.5
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param set-default CA_ROTOR5_PX 0.12
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param set-default CA_ROTOR5_PY -0.22
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param set-default CA_ROTOR5_PZ 0
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param set-default CA_ROTOR6_AX 0
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param set-default CA_ROTOR6_AY 0
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param set-default CA_ROTOR6_AZ 1
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param set-default CA_ROTOR6_KM 0
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param set-default CA_ROTOR6_PX -0.5
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param set-default CA_ROTOR6_PY 0.5
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param set-default CA_ROTOR6_PX -0.12
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param set-default CA_ROTOR6_PY 0.22
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param set-default CA_ROTOR6_PZ 0
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param set-default CA_ROTOR7_AX 0
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param set-default CA_ROTOR7_AY 0
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param set-default CA_ROTOR7_AZ -1
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param set-default CA_ROTOR7_KM 0
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param set-default CA_ROTOR7_PX -0.5
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param set-default CA_ROTOR7_PY -0.5
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param set-default CA_ROTOR7_PX -0.12
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param set-default CA_ROTOR7_PY -0.22
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param set-default CA_ROTOR7_PZ 0
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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@@ -86,3 +126,30 @@ param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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param set-default PWM_MAIN_FUNC7 107
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param set-default PWM_MAIN_FUNC8 108
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param set-default PWM_MAIN_MIN1 1100
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param set-default PWM_MAIN_MIN2 1100
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param set-default PWM_MAIN_MIN3 1100
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param set-default PWM_MAIN_MIN4 1100
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param set-default PWM_MAIN_MIN5 1100
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param set-default PWM_MAIN_MIN6 1100
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param set-default PWM_MAIN_MIN7 1100
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param set-default PWM_MAIN_MIN8 1100
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param set-default PWM_MAIN_MAX1 1900
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param set-default PWM_MAIN_MAX2 1900
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param set-default PWM_MAIN_MAX3 1900
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param set-default PWM_MAIN_MAX4 1900
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param set-default PWM_MAIN_MAX5 1900
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param set-default PWM_MAIN_MAX6 1900
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param set-default PWM_MAIN_MAX7 1900
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param set-default PWM_MAIN_MAX8 1900
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param set-default PWM_MAIN_DIS1 1500
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param set-default PWM_MAIN_DIS2 1500
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param set-default PWM_MAIN_DIS3 1500
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param set-default PWM_MAIN_DIS4 1500
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param set-default PWM_MAIN_DIS5 1500
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param set-default PWM_MAIN_DIS6 1500
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param set-default PWM_MAIN_DIS7 1500
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param set-default PWM_MAIN_DIS8 1500
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