Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms #23117

Pedro-Roque · 2024-05-09T18:37:18Z

Solved Problem

This PR addresses support on PX4 for Spacecrafts or other space systems that use Thrusters as their main actuators. These are particularly relevant for space robotics applications.

Modules for control (with appendix sc_ ) and Thruster actuation compatibility were added.

This PR aims at integrating these additions, which will soon be published and updated on the source code, into the PX4 ecosystem to support space robotics facilities.

Solution

Add rate control, attitude control and position control for spacecraft-type vehicles (prefixed with ac_)
Add Thruster Effectiveness in the control allocation module
Add 2 simulation and one hardware airframes using these new modules

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

Reusing multicopter code. However, there are multiple problems associated with it:

Their actuation is not the same leading to different effectiveness models
Their PWM cycle is different than thruster-based platforms, which typically use solenoid-based valves
Their control can be different to take advantage of the lack of gravity
Their estimator is different since their model is, too

Test coverage

To-Do

Unit/integration test: ...
Simulation/hardware testing logs: https://review.px4.io/

Context

Currently being integrated in https://github.com/DISCOWER/PX4-Space-Systems/tree/dev-metric_control_allocator, as part of the DISCOWER project (a publication documenting this contribution as well as the entire lab facilities will be published by the end of August). Pictures and videos will be added soon. Continued from #23098

…ams.

…tems/discower/1.14'

Add space world make target

This commit adds a space systems rate control module

Update sitl_gazebo submodule hash

Add Space Systems Rate controller

MaEtUgR

Only had a quick glance to see if I can spot any high level things but didn't go through everything to be honest. Style check is failing. Let's work through step by step.

MaEtUgR · 2024-05-13T15:57:02Z

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -68,6 +68,14 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()

+if(CONFIG_MODULES_SC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults


Suggested change

rc.heli_defaults

I guess that's not used for thruster robots.

Correct. Removed.

MaEtUgR · 2024-05-13T15:57:13Z

CMakeLists.txt

+  PATTERN ".svn" EXCLUDE)
+else()
+	 message(STATUS "No PX4 build files to install.")
+endif()


Suggested change

endif()

endif()

ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter

MaEtUgR · 2024-05-13T15:59:51Z

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

@@ -38,6 +38,10 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
+
+	# [70000, 79999] Spacecraft-type platforms
+	70000_kth_space_robot


This should be conditionally included based on CONFIG_MODULES_SC_RATE_CONTROL no?

MaEtUgR · 2024-05-13T15:59:59Z

ROMFS/px4fmu_common/init.d/rc.sc_apps

+sc_pos_control start
+
+# Start Space Robot Thruster Controller
+sc_thruster_controller start


Suggested change

sc_thruster_controller start

sc_thruster_controller start

Fixed format.

MaEtUgR · 2024-05-13T16:02:17Z

boards/px4/fmu-v6x/default.px4board

-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y


It's currently not an option to remove these modules from the default build. I suggest there to be a thruster robot build similar to rover. Otherwise this will not scale further.

Sounds good, will look into that.

MaEtUgR · 2024-05-13T16:03:24Z

msg/ThrusterCommand.msg

+float32 x1                 # duty cycle of thruster-pair x1 [-1;1]
+float32 x2                 # duty cycle of thruster-pair x2 [-1;1]
+float32 y1                 # duty cycle of thruster-pair y1 [-1;1]
+float32 y2                 # duty cycle of thruster-pair y2 [-1;1]


Doesn't that duplicate https://github.com/PX4/PX4-Autopilot/blob/253208fdd4d3b415ef9ce019d7b5475a3e103a8a/msg/ActuatorMotors.msg ?

This is related to the thruster_controller module, that then publishes motor controls that get translated to actuator outputs. The x's and y's are relative to body frame, but this should probably be removed since we don't need this to be upstream.

EDIT: I'll keep it for now. Might remove later.

MaEtUgR · 2024-05-13T16:06:02Z

msg/MyMessage.msg

+uint64 timestamp		# time since system start (microseconds)
+
+char[127] text


Isn't this the same as https://github.com/PX4/PX4-Autopilot/blob/253208fdd4d3b415ef9ce019d7b5475a3e103a8a/msg/MavlinkLog.msg ?

Actually no clue why this is here - will remove. Thanks for the catch!

MaEtUgR · 2024-05-13T16:07:52Z

msg/TrajectorySetpoint.msg

+float32[4] attitude # in quaternions
+float32[3] angular_velocity # in rad/s^2


That's what attitude setpoint and rate setpoint are for. We shouldn't combine those for all use cases.

But since the pipeline is pos_ctl sending an attitude setpoint to the att controller, how do you combine trajectories that require both? Because one of the commands gets ignored in that case... or will get jittered?

MaEtUgR · 2024-05-13T16:09:24Z

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -87,7 +87,9 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 * taken into account
 */
 #if !defined(BOARD_PWM_FREQ)
-#define BOARD_PWM_FREQ 1000000
+// #define BOARD_PWM_FREQ 1000000


This shouldn't stay commented out. Could the downscaling be something board-specific that breaks other boards?

We could probably make this configurable. It's mostly for thruster based systems that require a smaller frequency

Pedro-Roque · 2024-05-14T07:06:27Z

Thanks Matt, I'll start pushing on this now! :)

…edback

Pedro-Roque · 2024-05-15T12:26:04Z

Should sync with PX4/PX4-SITL_gazebo-classic#1039

DronecodeBot · 2024-05-15T15:54:55Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-may-15-2024/38773/1

dagar · 2024-05-15T16:04:07Z

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -86,8 +86,11 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 * We also allow for overrides here but all timer register usage need to be
 * taken into account
 */
-#if !defined(BOARD_PWM_FREQ)
+#if !defined(BOARD_PWM_FREQ) && !defined(CONFIG_MODULES_SC_RATE_CONTROL)


At a minimum let's do this via kconfig and not introduce module specific ifdefs.

Pedro-Roque · 2024-05-15T17:36:05Z

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -663,7 +666,8 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 		 * default to updating at 50Hz
 		 */

-		timer_set_rate(timer, 50);
+		timer_set_rate(timer, 10);


@Pedro-Roque big mess, change this

Pedro-Roque and others added 30 commits May 17, 2023 19:28

rft: changed Readme for space systems setup

b852d0b

Readme for space systems setup

46e6d7f

Added Space Robot airframe and thruster controller (work in progress)

f7cf8c8

Added support for thruster control messages. Fixed initialization par…

ddf2a5b

…ams.

Fixed PWM to be controllable at 10 Hz by sr_thruster_controller.c

892e35b

Patch for previous commit

75b25a8

Converted sr_thruster_controller to a PX4-module

b54f398

Merge remote-tracking branch 'PX4-Autopilot/main' into 'PX4-Space-Sys…

4d17c02

…tems/discower/1.14'

Update to Space Ropbot airframe params

5929738

Modified px4_fmu-v6x board defaults to use less FLASH memory

568da60

Merge branch 'main' into discower/1.14

45902bf

Update to boardconfig for sitl and fmu-v6x

8cf11f8

fix: set sim build with gazebo 11 option

f1a1c28

fix: updated README with gazebo 11 option

5abfb92

Update to read RC channels

731775a

Update to use namespace spacebot#

2eb6e55

Add space world make target

d297a77

Merge pull request #1 from Jaeyoung-Lim/pr-add-space-world

05cd988

Add space world make target

Update sitl_gazebo head

788f863

Add space systems rate control module

122509f

This commit adds a space systems rate control module

Use bidirectional thrust on the sticks

bb396b4

Merge pull request #3 from DISCOWER/pr-sitl-model

e68aebb

Update sitl_gazebo submodule hash

fix: builds with sitl gazebo

cbd7a9c

fix: install build folder and ROMFS for ros2 launch sequence

4ac6e6a

Merge pull request #4 from DISCOWER/pr-rate-controller

5e19a9f

Add Space Systems Rate controller

rft: clean CMakeLists and improved posix rcS for uxrcde connection

2d4b3d3

rft: changing default names for space to spacecraft (sc)

a8e85f3

feat: changing files and filenames to sc_ terminology

a7046ec

feat: update default rc_app and reduce logging. Might break SIM

accc043

feat: adding spacecraft airframes

405a468

Pedro-Roque requested a review from dagar May 9, 2024 18:37

Pedro-Roque assigned dagar, Pedro-Roque and Jaeyoung-Lim May 9, 2024

Pedro-Roque mentioned this pull request May 9, 2024

Spaceraft Support: Modules for Space Robotics and thruster-based platforms #23098

Closed

Pedro-Roque added 2 commits May 13, 2024 13:39

Merge branch 'dev-metric_control_allocator' into dev-merge_changes

35700c2

fix: format checks

697bcde

Pedro-Roque force-pushed the dev-merge_upstream branch from 2a2687d to 697bcde Compare May 13, 2024 11:51

Pedro-Roque added 5 commits May 13, 2024 14:33

fix: disabled unit tests for spacecraft - they need to be designed

206de0e

add: empy, might fix fails

0eefd71

fix: reverting changes to workflow

e4ea746

feat: updating Gazebo Classic submodule commit

96de3d9

fix: submodules

b6169a8

MaEtUgR reviewed May 13, 2024

View reviewed changes

Pedro-Roque added 5 commits May 14, 2024 09:28

fix: fixed styles and configuration files for spacecrafts based on fe…

6a13703

…edback

fix: init.d cmakelists

db0ed9b

fix: removed MyMessage, replaced with MavlinkLog

b2438d7

feat: 6dof spacecraft updates

9ee35c7

feat: updated thrust of DART spacecraft

3741843

Pedro-Roque mentioned this pull request May 15, 2024

Spacecrafts and Thrusters Plugin PX4/PX4-SITL_gazebo-classic#1039

Open

feat: added frictionless world

284f4a0

mrpollo added the [Dev Call] ✅ Discussed label May 15, 2024

dagar reviewed May 15, 2024

View reviewed changes

Pedro-Roque commented May 15, 2024

View reviewed changes

Pedro-Roque added 3 commits May 20, 2024 13:16

fix: compilation issues with fmuv6x

2db4428

fix: thruster output range to match hardware

c5278ca

fix: failsafe on invalid posctl now is stabilized mode

33a10b4

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms #23117

Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms #23117

Pedro-Roque commented May 9, 2024 •

edited

MaEtUgR left a comment

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024 •

edited

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

MaEtUgR May 13, 2024

Pedro-Roque May 14, 2024

Pedro-Roque commented May 14, 2024

Pedro-Roque commented May 15, 2024

DronecodeBot commented May 15, 2024

dagar May 15, 2024

Pedro-Roque May 15, 2024

		uint64 timestamp # time since system start (microseconds)

		char[127] text

		float32[4] attitude # in quaternions
		float32[3] angular_velocity # in rad/s^2

Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms #23117

Are you sure you want to change the base?

Spacecraft Support: adding modules for Space Robotics and Thruster Based platforms #23117

Conversation

Pedro-Roque commented May 9, 2024 • edited

Solved Problem

Solution

Changelog Entry

Alternatives

Test coverage

Context

MaEtUgR left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Pedro-Roque May 14, 2024 • edited

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Pedro-Roque commented May 14, 2024

Pedro-Roque commented May 15, 2024

DronecodeBot commented May 15, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Pedro-Roque commented May 9, 2024 •

edited

Pedro-Roque May 14, 2024 •

edited