New vehicle type: Airship

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

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 stabilator
+# @output MAIN2 motor 1 starboard
+# @output MAIN3 motor 2 port
+# @output MAIN4 rudder motor
+
+sh /etc/init.d/rc.airship_defaults
+
+param set PWM_MAX 2000
+param set PWM_MIN 1000
+
+param set MPC_MANTHR_MIN 0.00
+param set MPC_THR_MIN 0.00
+param set MPC_THR_CURVE 1
+param set MPC_THR_HOVER 0.0
+
+param set NAV_DLL_ACT 0
+param set NAV_RCL_ACT 0
+
+param set MC_ACRO_Y_MAX 360.0
+param set MPC_MAN_Y_MAX 360.0
+
+param set LNDMC_Z_VEL_MAX 0.01
+param set LNDMC_XY_VEL_MAX 0.01
+param set LNDMC_LOW_T_THR 0.01
+param set LNDMC_ROT_MAX 1.0
+
+set MIXER cloudship
+
+# Configure this as airship.
+# set MAV_TYPE 7

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

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name Cloudship
+# @type Airship
+# @class Airship
+#
+# @output MAIN1 stabilator
+# @output MAIN2 motor 1 starboard
+# @output MAIN3 motor 2 port
+# @output MAIN4 rudder motor
+
+sh /etc/init.d/rc.airship_defaults
+
+param set PWM_MAX 2000
+param set PWM_MIN 1000
+
+param set MPC_MANTHR_MIN 0.00
+param set MPC_THR_MIN 0.00
+param set MPC_THR_CURVE 1
+param set MPC_THR_HOVER 0.0
+
+param set NAV_DLL_ACT 0
+param set NAV_RCL_ACT 0
+
+param set MC_ACRO_Y_MAX 360.0
+param set MPC_MAN_Y_MAX 360.0
+
+param set LNDMC_Z_VEL_MAX 0.01
+param set LNDMC_XY_VEL_MAX 0.01
+param set LNDMC_LOW_T_THR 0.01
+param set LNDMC_ROT_MAX 1.0
+
+set MIXER cloudship
+
+# Configure this as airship.
+# set MAV_TYPE 7
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -0,0 +1,64 @@
+#!/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 Position Controller.
+#
+mc_pos_control start
+
+#
+# Start Land Detector.
+#
+land_detector start multicopter

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# Airship default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE airship
+
+if [ $AUTOCNF = yes ]
+then
+	param set NAV_ACC_RAD 2
+
+	param set RTL_RETURN_ALT 30
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 1
+
+	param set PWM_MAX 2000
+	param set PWM_MIN 1000
+	param set PWM_RATE 400
+fi
+
+#
+# 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 = 2 if not defined.
+		set MAV_TYPE 2
+	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 +1,51 @@
+Stabilator/thruster/rudder mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling an airship with
+stabilator, rudder rotor, starboard and port thruster using PX4FMU.
+The configuration assumes the stabilator servo is connected to PX4FMU servo
+output 0, starboard thruster to output 1, port thruster to output 2, and the
+rudder rotor to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Servo controlling stabilator mixer
+------------
+Two scalers total (output, thrust angle).
+
+This mixer assumes that the stabilator 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
+
+Starboard and port thruster mixer
+-----------------
+Two scalers total (output, thrust).
+
+By default mixer output is normalized. In the case of certain input controllers
+the commented lines generate a full-range output (-1 to 1) from an input in the
+(0 - 1) range. Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3  10000  10000           0 -10000  10000
+#S: 0 3  20000  20000       -10000 -10000  10000
+
+M: 1
+S: 0 3  10000  10000           0 -10000  10000
+#S: 0 3  20000  20000       -10000 -10000  10000
+
+Rudder rotor mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder rotor 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

Tools/px4airframes/srcparser.py

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

boards/px4/sitl/default.cmake

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

msg/vehicle_status.msg

@@ -52,6 +52,7 @@ 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.

platforms/posix/cmake/sitl_target.cmake

@@ -79,7 +79,7 @@ set(models none shell
 	if750a iris 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)
 set(all_posix_vmd_make_targets)

src/modules/airship_att_control/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   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
+		circuit_breaker
+		conversion
+		mathlib
+		px4_work_queue
+	)