SIH: Add Standard VTOL Airframe #24175
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RomanBapst
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ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
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ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
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RomanBapst
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RomanBapst
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Jan 8, 2025
mostly took changes from 4d930bd and applied to main. generate_fw_aerodynamics now takes four arguments rather than using the _u class member, because depending on vehicle type _u is used differently.
- NB_MOTORS -> NB_ACTUATORS_MAX. the _u array also contains control surface deflections. - thrust -> throttle_cmd to match the other arguments
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Jaeyoung-Lim
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RomanBapst
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Document SIH Standard VTOL Airframe, added in PX4/PX4-Autopilot#24175
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In PR PX4#24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR PX4#24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files.
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In PR PX4#24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR PX4#24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files.
mbjd
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In PR PX4#24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR PX4#24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files.
mbjd
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Jan 15, 2025
In PR PX4#24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR PX4#24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files.
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Solved Problem
The standard VTOL airframe was previously not available for simulation-in-hardware (SIH). With these changes, it is.
Solution
We add a new SIH specific SVTOL airframe file, ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil. In src/modules/simulation/simulator_sih/sih.cpp, we add the corresponding
SVTOLvehicle type. These are changes from this commit (thanks @RomanBapst), applied to upstream/main.Changelog Entry
For release notes:
Test coverage
SIH test log: https://review.px4.io/plot_app?log=92dedeaf-78f7-4771-9556-fd8a0386d5b1