Merged in offboard (pull request PX4#2)

Custom glide mode + RTPS integration with Smart Loiter

Approved-by: Alexandre Borowczyk

.gitmodules

@@ -12,7 +12,7 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+	url = [email protected]:notostechnologies/sitl_gazebo.git
 	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -16,7 +16,7 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_MAN_P_MAX 30
 
-param set-default FW_PR_P 0.9
+param set-default FW_PR_P 0.08
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -51,13 +51,15 @@ param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+param set-default HIL_ACT_FUNC1 0
+param set-default HIL_ACT_FUNC2 0
+param set-default HIL_ACT_FUNC3 201 # Rudder
+param set-default HIL_ACT_FUNC4 101 # Throttle
+param set-default HIL_ACT_FUNC5 202 # Flaps
+param set-default HIL_ACT_FUNC6 203 # Left Aileron
+param set-default HIL_ACT_FUNC7 204 # Right aileron
+param set-default HIL_ACT_FUNC8 205 # elevator
+param set-default HIL_ACT_FUNC9 206 # flaps
 
 param set SYS_HITL 1
 
@@ -72,4 +74,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
 
-set MIXER AERT
+set MIXER plane_hitl

ROMFS/px4fmu_common/init.d/airframes/2201_magellan

@@ -0,0 +1,148 @@
+#!/bin/sh
+#
+# @name Magellan
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 flaps right
+# @output MAIN7 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Alexandre Borowczyk <[email protected]>
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+
+  # battery
+  param set BAT_SOURCE 0
+  param set BAT_CRIT_THR 0.175
+  param set BAT_EMERGEN_THR 0.10
+  param set BAT_LOW_THR 0.25
+
+  param set BAT_N_CELLS 3
+  param set BAT_CAPACITY 6000
+  #param set BAT_R_INTERNAL 0.06
+  param set BAT_V_CHARGED 4.00
+  param set BAT_V_EMPTY 3.65
+
+  # Airspeed
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 20
+
+  param set FW_T_CLMB_MAX 3.5
+  param set FW_THR_IDLE 0
+  param set FW_THR_CRUISE 60
+	param set FW_MAN_P_MAX 55
+	param set FW_MAN_R_MAX 55
+	param set FW_R_LIM 55
+
+	param set FW_WR_FF 0.2
+	param set FW_WR_I 0.2
+	param set FW_WR_IMAX 0.8
+	param set FW_WR_P 1
+	param set FW_W_RMAX 0
+
+  #Radio
+  param set RC_MAP_PITCH 1
+  param set RC_MAP_ROLL 3
+  param set RC_MAP_THROTTLE 8
+  param set RC_MAP_YAW 2
+  param set RC_MAP_FLAPS 5
+  param set RC_MAP_ARM_SW 14
+  param set RC_MAP_FLTMODE 13
+  param set COM_ARM_SWISBTN 1
+  param set RC_MAP_AUX1 7
+  param set RC5_MIN 1500
+  param set RC5_TRIM 1750
+  param set RC7_MIN 1500
+  param set RC7_TRIM 1750
+
+  # Commander
+  param set COM_DISARM_LAND 0.0
+  param set COM_ARM_WO_GPS 0
+  param set COM_FLTMODE1 0
+  param set COM_FLTMODE2 8
+  param set COM_FLTMODE3 1
+  param set COM_FLTMODE4 3
+  param set COM_FLTMODE5 4
+  param set COM_FLTMODE6 5
+  #PWM
+  # param set PWM_MAIN_MAX1 1584
+  # param set PWM_MAIN_MAX2 1846
+  # param set PWM_MAIN_MAX3 1643
+  # param set PWM_MAIN_MAX4 1894
+  # param set PWM_MAIN_MAX5 2000
+  # param set PWM_MAIN_MAX6 1500
+  # param set PWM_MAIN_MAX7 1858
+
+
+  # param set PWM_MAIN_MIN1 1181
+  # param set PWM_MAIN_MIN2 1121
+  # param set PWM_MAIN_MIN3 1057
+  # param set PWM_MAIN_MIN4 1288
+  # param set PWM_MAIN_MIN5 1000
+  # param set PWM_MAIN_MIN6 1434
+  # param set PWM_MAIN_MIN7 1039
+
+
+  # param set PWM_MAIN_DIS1 1500
+  # param set PWM_MAIN_DIS2 1530
+  # param set PWM_MAIN_DIS3 1416
+  # param set PWM_MAIN_DIS4 1561
+  # param set PWM_MAIN_DIS5 900
+  # param set PWM_MAIN_DIS6 1500
+  # param set PWM_MAIN_DIS7 1500
+
+  # param set PWM_MAIN_FAIL1 1500
+  # param set PWM_MAIN_FAIL2 1530
+  # param set PWM_MAIN_FAIL3 1416
+  # param set PWM_MAIN_FAIL4 1561
+  # param set PWM_MAIN_FAIL5 900
+  # param set PWM_MAIN_FAIL6 1500
+  # param set PWM_MAIN_FAIL7 1500
+
+  # param set PWM_MAIN_REV1 1
+  # param set PWM_MAIN_REV2 0
+  # param set PWM_MAIN_REV3 1
+  # param set PWM_MAIN_REV4 1
+  # param set PWM_MAIN_REV6 1
+
+  # set disarmed value for the ESC
+  param set PWM_DISARMED 900
+
+  # Return Mode RC Loss
+  param set NAV_RCL_ACT 2
+  # Disabled Datalink Loss
+	param set NAV_DLL_ACT 0
+
+
+  # Set Logging
+  param set SDLOG_PROFILE 91
+
+  # UAVCAN
+  param set UAVCAN_ENABLE 2
+
+  param set FW_VARIO_POLAR_A -0.0127
+  param set FW_VARIO_POLAR_B 0.1105
+  param set FW_VARIO_POLAR_C -0.7274
+
+fi
+
+
+set MIXER AAVVTFF_magellan
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -47,7 +47,7 @@ px4_add_romfs_files(
 	2105_maja
 	2106_albatross
 	2200_mini_talon
-
+	2201_magellan
 	2507_cloudship
 
 	# [3000, 3999] Flying wing"

ROMFS/px4fmu_common/mixers/AAVVTFF_magellan.main.mix

@@ -0,0 +1,68 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, and flaps
+using PX4FMU.
+
+The configuration assumes the following
+Right Aileron- 0
+Left Aileron- 1
+Right tail- 2
+Left tail- 3
+throttle- 4
+Right flaps- 5
+Right flaps- 6
+
+Control Group #0 (Flight Control)
+0- roll (-1..1)
+1- pitch (-1..1)
+2- yaw (-1..1)
+3- throttle (0..1)
+4- flaps (-1..1)
+5- spoilers (-1..1)
+6- airbrakes (-1..1)
+7- landing gear (-1..1)
+
+Aileron mixer (roll + Airbrakes)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up mechanically reversed.
+
+M: 1
+S: 0 0 10000  10000   -5200 -10000  10000
+
+M: 1
+S: 0 0 -7000  -3000   600 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+M: 2
+S: 0 2   -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+S: 0 2   -7000   -7000      0 -10000  10000
+S: 0 1   -8000  -8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates 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      0  20000 -10000 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      10000   6000 0 -10000  10000
+
+M: 1
+S: 0 4      10000   6000  0 -10000  10000

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
 	AAVVTWFF_vtail.main.mix
+	AAVVTFF_magellan.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
@@ -91,4 +92,5 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	vtol_tailsitter_duo_sat.main.mix
+	plane_hitl.main.mix
 )

ROMFS/px4fmu_common/mixers/plane_hitl.main.mix

@@ -0,0 +1,43 @@
+Mixer for SITL plane
+=========================================================
+
+Z:
+
+Z:
+
+# mixer for the rudder
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 2   10000   10000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+# NOTE: for HITL the throttle needs to be on the 3rd position see:
+# src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp::send() line 151
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# mixer for the flaps
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 4   10000   10000    0 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 0 0  -10000  -10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 0 0  10000  10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 1   10000   10000    0 -10000  10000
+
+# mixer for the flaps
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 4   10000   10000    0 -10000  10000