New vehicle type: Airship #14862

dan-leo · 2020-05-07T22:21:36Z

As mentioned in #14792 and https://discuss.px4.io/t/new-vehicle-type-airship/16514, our team has developed a new vehicle type for the PX4 developer community. Feel free to test using the cloudship branch (based off v1.10.1) or master branch in https://github.com/flycloudline/Firmware and https://github.com/flycloudline/sitl_gazebo_airship.

# Run the following to simulate in Gazebo
make px4_sitl gazebo_cloudship

Use QGroundcontrol and a joystick controller to test. A virtual joystick can also be used.

- typo

- airframe, - mixers, - manual flying

platforms/common/include/px4_platform_common/i2c_spi_buses.h

dagar · 2020-05-07T23:38:31Z

Is LTA common terminology? Feel free to use something more descriptive like airship or blimp. It doesn't necessarily need to be a short initialism (like MC or FW).

dan-leo · 2020-05-09T07:12:50Z

LTA has been renamed to airship.

When working with airship-specific parameters in future, we do need an acronym naming convention to fit within the 16 byte limit. A few suggestions could be A_, AS_, LTA_, BL_, ZP_, DG_. What do you think?

bkueng

Really cool!

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

bkueng · 2020-05-13T06:48:31Z

ROMFS/px4fmu_common/init.d/rc.airship_defaults

+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 1
+
+	param set PWM_MAX 2000


These are the default already, so no need to have them here

@dan-leo why did you mark this as resolved? I don't see this being addressed.

@bkueng I didn't realize that when defined as a pwm parameter they already have those exact defaults. Updated, thanks!

src/modules/airship_att_control/airship_att_control.hpp

imnobodyet · 2020-05-19T09:17:07Z

@dan-leo great work! is this support 6DOF type? I'm working on a project using a balloon with 6 motors mounted in the middle which can make it move directly up/down/laterally, there's no pitch and roll. I can manually control it by using a simple mixer, but don't know how to make it run auto mission.

Jaeyoung-Lim · 2020-05-08T10:53:56Z

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

+set MIXER cloudship
+
+# Configure this as airship.
+# set MAV_TYPE 7


why is this commented out?

It is currently using MAV_TYPE 2. It would be ideal to use MAV_TYPE 7, but the implementation seems non-trivial at the moment.

I think it should be set to MAV_TYPE 7 and may be specify n=0 at https://github.com/PX4/Firmware/blob/master/src/modules/simulator/simulator_mavlink.cpp#L104. This way you are explicitly stating that the control inputs range from -1 ~ 1

Thanks, this helps.

dan-leo · 2020-06-01T12:41:52Z

@dan-leo great work! is this support 6DOF type? I'm working on a project using a balloon with 6 motors mounted in the middle which can make it move directly up/down/laterally, there's no pitch and roll. I can manually control it by using a simple mixer, but don't know how to make it run auto mission.

Currently it supports yaw and thrust angle/pitch. Roll can be supported through differential thrust in the mixer setup, but is not recommended unless using a fixed thruster setup as you are using! We are hoping to include differential yaw/roll depending on the thrust angle for the specific set-up we have.

dan-leo · 2020-06-01T13:13:00Z

@dagar @bkueng @Jaeyoung-Lim @MaEtUgR what would you still like to be done, or what are are the next steps once both repos are complete? Thanks for your input thus far!

bkueng · 2020-06-03T08:31:59Z

ROMFS/px4fmu_common/init.d/rc.airship_defaults

+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 1
+
+	param set PWM_MAX 2000


@dan-leo why did you mark this as resolved? I don't see this being addressed.

bkueng · 2020-06-03T08:33:25Z

src/modules/airship_att_control/airship_att_control.hpp

+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
+	float _loop_update_rate_hz{initial_update_rate_hz};          /**< current rate-controller loop update rate in [Hz] */


These are unused as well.

Thanks, I removed them for now. They'll be useful in future updates!

- airship_att_control - params in rc.airship_defaults

bkueng · 2020-06-05T05:57:28Z

This contains a few submodule updates (NuttX, ecl and mavlink). I believe these are not on purpose, can you revert that?
Otherwise this looks good.

antonerasm · 2020-06-28T19:40:30Z

I added, fixed and refactored a couple things.
Bottom line: this PR only implements full manual control (where the stick commands are directly passed to the actuators) along with some arming checks.
I could've probably handled it with the mixer only, but the yaw control is passed to the rudder motor and therefore I needed to add the arming check to avoid it spinning accidentally when unarmed (because servos are allowed to move then).
In future PRs, the controllers will be added.

dan-leo · 2020-06-28T22:07:29Z

Thanks @antonerasm, this is looking really good.

Is it worth adding a check for MAV_TYPE_AIRSHIP around line 3333 in src/modules/mavlink/mavlink_messages.cpp?
How about feeding thrust into the thrust_body_array around line 1357 in src/modules/mavlink/mavlink_messages.cpp?

Awesome!

TSC21 · 2020-07-19T14:48:51Z

@dan-leo your airship model was brought in in #15377.

dan-leo · 2020-07-19T23:40:38Z

@TSC21, thanks.

hamishwillee · 2020-07-20T00:50:59Z

When this goes in would be good to get some docs. Specifically:

Simulation - in https://dev.px4.io/master/en/simulation/gazebo_vehicles.html and https://dev.px4.io/master/en/simulation/gazebo.html#running-the-simulation
Anything you think is needed for someone to emulate or modify your work. That might be information about mixer setup, or a page on an airframe build: https://docs.px4.io/master/en/airframes/

Jaeyoung-Lim

Thanks for the contribution.

It seems like all the modified parts or not on the critical path, so good for me

bkueng

One detail, otherwise good to merge.

src/modules/airship_att_control/airship_att_control_main.cpp

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

dan-leo · 2020-08-11T20:47:17Z

Yay!

hamishwillee · 2020-08-11T22:58:12Z

Awesome. Docs reminder: #14862 (comment) "an undocumented feature might as well not exist"

Jaeyoung-Lim · 2020-08-14T05:56:28Z

@dan-leo Could you please follow up and add this to the docs?

antonerasm · 2020-08-14T06:20:38Z

@Jaeyoung-Lim @hamishwillee Yes, I will do that ASAP. It is next on my to-do list.

dan-leo added 5 commits April 29, 2020 23:40

Update CONTRIBUTING.md

e2d9bad

- typo

Merge branch 'master' of https://github.com/PX4/Firmware

e3f1229

Merge branch 'master' of https://github.com/PX4/Firmware

f63a446

added cloudship

cc3e36a

- airframe, - mixers, - manual flying

mixer update

fca67cd

dan-leo mentioned this pull request May 7, 2020

Port new airship vehicle type from v1.10 to master #14792

Closed

TSC21 requested review from Jaeyoung-Lim, bkueng, dagar and MaEtUgR May 7, 2020 22:27

TSC21 added the Admin: Enhancement (improvement) 💡 label May 7, 2020

TSC21 added this to the Release v1.12.0 milestone May 7, 2020

dagar reviewed May 7, 2020

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platforms/common/include/px4_platform_common/i2c_spi_buses.h Outdated Show resolved Hide resolved

dan-leo added 5 commits May 9, 2020 09:18

revert astyle check

b00888c

revert i2c_spi_buses.h

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space

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renamed lta -> airship

b6a2223

Merge branch 'master' of https://github.com/flycloudline/Firmware

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bkueng reviewed May 13, 2020

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Jaeyoung-Lim reviewed May 19, 2020

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edits, cleaned up

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bkueng reviewed Jun 3, 2020

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dan-leo added 2 commits June 4, 2020 15:44

pr: further edits

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- airship_att_control - params in rc.airship_defaults

Merge branch 'master' of https://github.com/PX4/Firmware

76b77e4

CI successful, astyle check

b4c6675

dan-leo force-pushed the master branch from 6434185 to b4c6675 Compare June 9, 2020 08:09

dan-leo and others added 6 commits June 9, 2020 10:10

uorb graph fix

669e227

Change actuator scales for simulator, refactor airship code

384662e

Merge remote-tracking branch 'upstream/master'

9855b09

Add airship land detector and handle airship arming state

1e53880

Merge remote-tracking branch 'upstream/master'

fa46136

Add documentation for airship land detector

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weekly-digest bot mentioned this pull request Jul 5, 2020

Weekly Digest (28 June, 2020 - 5 July, 2020) #15258

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weekly-digest bot mentioned this pull request Jul 26, 2020

Weekly Digest (19 July, 2020 - 26 July, 2020) #15419

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Jaeyoung-Lim previously approved these changes Aug 6, 2020

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bkueng previously approved these changes Aug 6, 2020

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src/modules/airship_att_control/airship_att_control_main.cpp Outdated Show resolved Hide resolved

Update state definition for readability

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Co-authored-by: Beat Küng <beat-kueng@gmx.net>

antonerasm dismissed stale reviews from bkueng and Jaeyoung-Lim via fcaa8b3 August 7, 2020 20:34

antonerasm added 2 commits August 8, 2020 10:36

Merge remote-tracking branch 'upstream/master'

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Update land detector arm variables

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bkueng approved these changes Aug 10, 2020

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bkueng merged commit fa4818e into PX4:master Aug 10, 2020

antonerasm mentioned this pull request Aug 17, 2020

Add airship simulation docs PX4/PX4-Devguide#1077

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antonerasm mentioned this pull request Sep 30, 2020

Add airship icon mavlink/qgroundcontrol#9094

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New vehicle type: Airship #14862

New vehicle type: Airship #14862

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New vehicle type: Airship #14862

New vehicle type: Airship #14862

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