vehicles: add new vehicle type: Airship (#14862)

Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>

ROMFS/px4fmu_common/init.d-posix/2507_cloudship

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 thrust tilt
+# @output MAIN2 starboard thruster
+# @output MAIN3 port thruster
+# @output MAIN4 tail thruster
+
+sh /etc/init.d/rc.airship_defaults
+
+set MIXER cloudship
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 starboard thruster
+# @output MAIN2 port thruster
+# @output MAIN3 thrust tilt
+# @output MAIN4 tail thruster
+
+sh /etc/init.d/rc.airship_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set COM_PREARM_MODE 2
+	param set CBRK_IO_SAFETY 22027
+fi
+
+set MIXER cloudship
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# Standard apps for airships. Attitude/Position estimator, Attitude/Position control.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+###############################################################################
+#                       Begin Estimator Group Selection                       #
+###############################################################################
+
+#
+# LPE
+#
+if param compare SYS_MC_EST_GROUP 1
+then
+	#
+	# Try to start LPE. If it fails, start EKF2 as a default.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
+	#
+	if attitude_estimator_q start
+	then
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		local_position_estimator start
+	else
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		param set SYS_MC_EST_GROUP 2
+		param save
+		reboot
+	fi
+else
+	#
+	# Q estimator (attitude estimation only)
+	#
+	if param compare SYS_MC_EST_GROUP 3
+	then
+		attitude_estimator_q start
+	else
+		#
+		# EKF2
+		#
+		param set SYS_MC_EST_GROUP 2
+		ekf2 start
+	fi
+fi
+
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
+
+#
+# Start Airship Attitude Controller.
+#
+airship_att_control start
+
+#
+# Start Land Detector.
+#
+land_detector start airship

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Airship default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE airship
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -147,6 +147,32 @@ then
 	sh /etc/init.d/rc.vtol_apps
 fi
 
+#
+# Airship setup.
+#
+if [ $VEHICLE_TYPE = airship ]
+then
+	if [ $MIXER = none ]
+	then
+		echo "Airship mixer undefined"
+	fi
+
+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 7 if not defined.
+		set MAV_TYPE 7
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
+	# Load mixer and configure outputs.
+	sh /etc/init.d/rc.interface
+
+	# Start airship apps.
+	sh /etc/init.d/rc.airship_apps
+fi
+
 #
 # UUV setup
 #

ROMFS/px4fmu_common/mixers/cloudship.main.mix

@@ -0,0 +1,47 @@
+Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling an airship with
+a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
+The configuration assumes the starboard thruster is connected to PX4FMU
+output 1, port thruster to output 2, tilt servo to output 3, and the
+tail thruster to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude),
+channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+Starboard and port thruster mixer
+-----------------
+Two scalers total (output, thrust).
+
+By default mixer output is normalized. The input is in the (0 - 1) range.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Servo controlling tilt mixer
+------------
+Two scalers total (output, tilt angle).
+
+This mixer assumes that the tilt servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
+
+Tail thruster mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the tail thruster is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the motor movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+S: 0 2  10000  10000   0      -10000  10000