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

Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
This commit is contained in:
Daniel Leonard Robinson 2020-08-10 08:52:51 +02:00 committed by GitHub
parent 454433c2ef
commit fa4818e467
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
18 changed files with 687 additions and 2 deletions
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15
ROMFS/px4fmu_common/init.d-posix/2507_cloudship Normal file
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@ -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

21
ROMFS/px4fmu_common/init.d/airframes/2507_cloudship Normal file
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@ -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

59
ROMFS/px4fmu_common/init.d/rc.airship_apps Normal file
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@ -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

14
ROMFS/px4fmu_common/init.d/rc.airship_defaults Normal file
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@ -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

26
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
View File

@ -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
#

47
ROMFS/px4fmu_common/mixers/cloudship.main.mix Normal file
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@ -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

2
Tools/px4airframes/srcparser.py
View File

@ -90,6 +90,8 @@ class ParameterGroup(object):
return "YPlus"
elif (self.name == "Autogyro"):
return "Autogyro"
elif (self.name == "Airship"):
return "Airship"
elif (self.name == "Rover"):
return "Rover"
elif (self.name == "Boat"):

1
boards/px4/sitl/default.cmake
View File

@ -21,6 +21,7 @@ px4_add_board(
tone_alarm
#uavcan
MODULES
airship_att_control
airspeed_selector
attitude_estimator_q
camera_feedback

1
msg/vehicle_status.msg
View File

@ -53,6 +53,7 @@ uint8 VEHICLE_TYPE_UNKNOWN = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3
uint8 VEHICLE_TYPE_AIRSHIP = 4
# state machine / state of vehicle.
# Encodes the complete system state and is set by the commander app.

2
platforms/posix/cmake/sitl_target.cmake
View File

@ -80,7 +80,7 @@ set(models none shell
if750a iris iris_dual_gps iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480
plane plane_cam plane_catapult plane_lidar
standard_vtol tailsitter tiltrotor
rover r1_rover boat
rover r1_rover boat cloudship
uuv_hippocampus)
set(worlds none empty baylands ksql_airport mcmillan_airfield sonoma_raceway warehouse windy)
set(all_posix_vmd_make_targets)

43
src/modules/airship_att_control/CMakeLists.txt Normal file
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@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__airship_att_control
MAIN airship_att_control
STACK_MAX 3500
COMPILE_FLAGS
SRCS
airship_att_control_main.cpp
DEPENDS
px4_work_queue
)

97
src/modules/airship_att_control/airship_att_control.hpp Normal file
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@ -0,0 +1,97 @@
/****************************************************************************
*
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_angular_velocity.h>
/**
* Airship attitude control app start / stop handling function
*/
extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[]);
class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
public px4::WorkItem
{
public:
AirshipAttitudeControl();
virtual ~AirshipAttitudeControl();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
void Run() override;
bool init();
private:
/**
* Check for parameter update and handle it.
*/
void parameter_update_poll();
void publish_actuator_controls();
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;
struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
struct actuator_controls_s _actuators {}; /**< actuator controls */
perf_counter_t _loop_perf; /**< loop performance counter */
};

213
src/modules/airship_att_control/airship_att_control_main.cpp Normal file
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@ -0,0 +1,213 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file airship_att_control_main.cpp
* Airship attitude controller.
*
* @author Anton Erasmus <anton@flycloudline.com>
*/
#include "airship_att_control.hpp"
using namespace matrix;
AirshipAttitudeControl::AirshipAttitudeControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_actuators_0_pub(ORB_ID(actuator_controls_0)),
_loop_perf(perf_alloc(PC_ELAPSED, "airship_att_control"))
{
}
AirshipAttitudeControl::~AirshipAttitudeControl()
{
perf_free(_loop_perf);
}
bool
AirshipAttitudeControl::init()
{
if (!_vehicle_angular_velocity_sub.registerCallback()) {
PX4_ERR("vehicle_angular_velocity callback registration failed!");
return false;
}
return true;
}
void
AirshipAttitudeControl::parameter_update_poll()
{
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
}
}
void
AirshipAttitudeControl::publish_actuator_controls()
{
// zero actuators if not armed
if (_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
for (uint8_t i = 0 ; i < 4 ; i++) {
_actuators.control[i] = 0.0f;
}
} else {
_actuators.control[0] = 0.0f;
_actuators.control[1] = _manual_control_sp.x;
_actuators.control[2] = _manual_control_sp.r;
_actuators.control[3] = _manual_control_sp.z;
}
// note: _actuators.timestamp_sample is set in AirshipAttitudeControl::Run()
_actuators.timestamp = hrt_absolute_time();
_actuators_0_pub.publish(_actuators);
}
void
AirshipAttitudeControl::Run()
{
if (should_exit()) {
_vehicle_angular_velocity_sub.unregisterCallback();
exit_and_cleanup();
return;
}
perf_begin(_loop_perf);
/* run controller on gyro changes */
vehicle_angular_velocity_s angular_velocity;
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
const Vector3f rates{angular_velocity.xyz};
_actuators.timestamp_sample = angular_velocity.timestamp_sample;
/* run the rate controller immediately after a gyro update */
publish_actuator_controls();
/* check for updates in manual control topic */
if (_manual_control_sp_sub.updated()) {
_manual_control_sp_sub.update(&_manual_control_sp);
}
/* check for updates in vehicle status topic */
if (_vehicle_status_sub.updated()) {
_vehicle_status_sub.update(&_vehicle_status);
}
parameter_update_poll();
}
perf_end(_loop_perf);
}
int AirshipAttitudeControl::task_spawn(int argc, char *argv[])
{
AirshipAttitudeControl *instance = new AirshipAttitudeControl();
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int AirshipAttitudeControl::print_status()
{
PX4_INFO("Running");
perf_print_counter(_loop_perf);
print_message(_actuators);
return 0;
}
int AirshipAttitudeControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int AirshipAttitudeControl::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This implements the airship attitude and rate controller. Ideally it would
take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
### Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("airship_att_control", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
int airship_att_control_main(int argc, char *argv[])
{
return AirshipAttitudeControl::main(argc, argv);
}

62
src/modules/land_detector/AirshipLandDetector.cpp Normal file
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@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file AirshipLandDetector.cpp
* Land detection algorithm for airships
*
* @author Anton Erasmus <anton@flycloudline.com>
*/
#include "AirshipLandDetector.h"
namespace land_detector
{
bool AirshipLandDetector::_get_ground_contact_state()
{
return false;
}
bool AirshipLandDetector::_get_landed_state()
{
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
return true; // If Landing has been requested then say we have landed.
} else {
return !_armed; // If we are armed we are not landed.
}
}
} // namespace land_detector

60
src/modules/land_detector/AirshipLandDetector.h Normal file
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@ -0,0 +1,60 @@
/****************************************************************************
*
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file AirshipLandDetector.h
* Land detection implementation for airships.
*
* @author Anton Erasmus <anton@flycloudline.com>
*/
#pragma once
#include "LandDetector.h"
namespace land_detector
{
class AirshipLandDetector : public LandDetector
{
public:
AirshipLandDetector() = default;
~AirshipLandDetector() override = default;
protected:
bool _get_ground_contact_state() override;
bool _get_landed_state() override;
};
} // namespace land_detector

1
src/modules/land_detector/CMakeLists.txt
View File

@ -41,6 +41,7 @@ px4_add_module(
FixedwingLandDetector.cpp
VtolLandDetector.cpp
RoverLandDetector.cpp
AirshipLandDetector.cpp
DEPENDS
hysteresis
)

6
src/modules/land_detector/land_detector_main.cpp
View File

@ -49,6 +49,7 @@
#include "MulticopterLandDetector.h"
#include "RoverLandDetector.h"
#include "VtolLandDetector.h"
#include "AirshipLandDetector.h"
namespace land_detector
@ -77,6 +78,9 @@ int LandDetector::task_spawn(int argc, char *argv[])
} else if (strcmp(argv[1], "rover") == 0) {
obj = new RoverLandDetector();
} else if (strcmp(argv[1], "airship") == 0) {
obj = new AirshipLandDetector();
} else {
print_usage("unknown mode");
return PX4_ERROR;
@ -138,7 +142,7 @@ The module runs periodically on the HP work queue.
PRINT_MODULE_USAGE_NAME("land_detector", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover", "Select vehicle type", false);
PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover|airship", "Select vehicle type", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}

19
src/modules/simulator/simulator_mavlink.cpp
View File

@ -143,6 +143,25 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
}
}
} else if (_system_type == MAV_TYPE_AIRSHIP) {
/* airship: scale starboard and port throttle to 0..1 and other channels (tilt, tail thruster) to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (armed) {
if (i < 2) {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg.controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
msg.controls[i] = (_actuator_outputs.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
/* set 0 for disabled channels */
msg.controls[i] = 0.0f;
}
}
} else {
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */