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SITL Tailsitter tuning fixes and add quadtailsitter #21773

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merged 5 commits into from
Jun 29, 2023
Merged

SITL Tailsitter tuning fixes and add quadtailsitter #21773

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ea98011
Support quadtailsitter in SITL
Jaeyoung-Lim May 29, 2023
3996cfd
ROMFS: initial quadtailsitter tuning
julianoes May 12, 2023
5ec8e31
ROMFS: quadtailsitter SITL config: improve tuning
sfuhrer May 15, 2023
96f40b3
ROMFS: tailsitter SITL config: improve tuning after model changes
sfuhrer May 16, 2023
e8d33ad
ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s
sfuhrer May 16, 2023
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
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Expand Up @@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1

param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
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39 changes: 18 additions & 21 deletions ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
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Expand Up @@ -48,35 +48,32 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 1

param set-default NPFG_PERIOD 12
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_P_TC 0.6

param set-default FW_PR_FF 0.1
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.2
param set-default FW_RR_P 0.3
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6

param set-default MC_AIRMODE 1
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3

param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1

param set-default NAV_ACC_RAD 5

param set-default VT_ARSP_TRANS 10
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0

param set-default WV_EN 0
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74 changes: 74 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
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@@ -0,0 +1,74 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#

. ${R}etc/init.d/rc.vtol_defaults

param set-default MAV_TYPE 20

param set-default CA_AIRFRAME 4

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05

param set-default CA_SV_CS_COUNT 0

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0

parm set-default FD_FAIL_R 70

param set-default FW_P_TC 0.6

param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22

param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3

param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_TYPE 0

param set-default WV_EN 0
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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Expand Up @@ -60,6 +60,7 @@ px4_add_romfs_files(
1042_gazebo-classic_tiltrotor
1043_gazebo-classic_standard_vtol_drop
1044_gazebo-classic_plane_lidar
1045_gazebo-classic_quadtailsitter
1060_gazebo-classic_rover
1061_gazebo-classic_r1_rover
1062_flightgear_tf-r1
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
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Expand Up @@ -20,6 +20,7 @@
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

param set UAVCAN_ENABLE 0
param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
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Expand Up @@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6
param set-default MAV_TYPE 19
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_B_TRANS_DUR 5
1 change: 1 addition & 0 deletions src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
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Expand Up @@ -91,6 +91,7 @@ if(gazebo_FOUND)
plane_catapult
plane_lidar
px4vision
quadtailsitter
r1_rover
rover
standard_vtol
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