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Pr vtol hitl #9276

Merged
merged 7 commits into from
Jul 2, 2018
Merged

Pr vtol hitl #9276

merged 7 commits into from
Jul 2, 2018

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RomanBapst
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@RomanBapst RomanBapst commented Apr 10, 2018

  • adds a HITL model for standard vtol

LorenzMeier
LorenzMeier previously approved these changes Apr 10, 2018
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CI failure?

@TSC21
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TSC21 commented Apr 10, 2018

@RomanBapst was this tested with jMAVSim only or did you have a shot with Gazebo too?

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Something with the mixers, I'll check

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@TSC21 JMAVSim does not support VTOL so you can only use gazebo

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TSC21 commented Apr 10, 2018

Ok that's enough to me :) thanks

@hamishwillee
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@RomanBapst When this goes in, can we please have an update to the HITL docs here?

Specifically, update the list of HITL compatible airframes and confirm that the instructions are correct for this case.

@RomanBapst
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@hamishwillee Sure!

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TSC21 commented Apr 10, 2018

@RomanBapst can you review why CI is failing? I can't trigger the builds (no write permissions).

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@dagar Could you also check what's wrong here with CI please?

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TSC21 commented Apr 11, 2018

Can we reboot CI here @dagar?

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dagar commented Apr 12, 2018

@RomanBapst this doesn't fit in fmu-v2.

bkueng
bkueng previously approved these changes Apr 27, 2018
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Tested, works

@@ -0,0 +1,80 @@
#!nsh
#
# @name Standard vtol HITL
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You might want to add a comment that it works with the gazebo standard_vtol model.

param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
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Why are you setting the calibration parameters?

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@dagar This is probably coming from the SITL startup file. I'll go over the params and kick out the unnecessary ones.

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dagar commented Apr 30, 2018

Change the autostart numbering to either VTOL (13XXX) or the other HIL options (1XXX)?

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@dagar I addressed your comments. Good to go from my side.

@@ -0,0 +1,64 @@
#!nsh
#
# @name Standard vtol HITL (gazebo standard_vtol model)
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@hamishwillee hamishwillee May 1, 2018

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Shouldn't this be "Standard VTOL HITL" (ie capitalised VTOL).

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Might be better as:

@name Standard VTOL HITL (Gazebo only)

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Actually, the existing HIL frames have names like HIL ...., so perhaps this should be named
"HIL Standard VTOL QuadPlane"

Mixer for standard vtol plane (SITL) with motor x configuration
=========================================================

This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
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@hamishwillee hamishwillee May 1, 2018

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Everywhere:

  • VTOL not vtol
  • This config is referred to as a quadplane in our docs.
  • do you mean SITL or HITL?
  • Gazebo not gazebo

So possibly you mean:

Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
=========================================================

This file defines a single mixer for a Standard VTOL QuadPlane (HITL Gazebo) with motors in X configuration. The plane has two ailerons and one elevator.

@dagar dagar added this to the Release v1.8.0 milestone May 23, 2018
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Has this stalled?

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dagar commented May 23, 2018

It hit flash limits on fmu-v2 previously. It might currently be okay after a rebase.

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dagar commented May 25, 2018

Rebased on master. Good to go if CI passes.

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@hamishwillee Thanks, I addressed you last comments. Can be merged after checks pass.

@bkueng bkueng merged commit 863cd52 into master Jul 2, 2018
@bkueng bkueng deleted the pr-vtol_hitl branch July 2, 2018 11:09
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Thanks @RomanBapst - Yes, thanks for fixes. I did minor update to docs and merged: PX4/PX4-Devguide#519

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6 participants