add cyphal vtol octoplane coaxial

configs/px4/v1.14/vtol_octoplane_coaxial/README.md

@@ -0,0 +1,9 @@
+# Generic Standard VTOL (13000)
+
+## Airframe
+
+<img src="https://docs.px4.io/main/assets/img/VTOLPlane.2ffc44a4.svg" alt="drawing" width="240"/>
+
+## Actuators Setup
+
+<img src="https://raw.githubusercontent.com/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/configs/px4_v1.14_standard_vtol.png" alt="drawing" width="480"/>

configs/px4/v1.14/vtol_octoplane_coaxial/airframe.yaml

@@ -0,0 +1,22 @@
+SYS_AUTOSTART:    13000
+
+FW_AIRSPD_MAX: 30.0       # Max Airspeed (CAS)
+FW_AIRSPD_TRIM: 25.0      # Trim (Cruise) Airspeed (CAS)
+FW_AIRSPD_MIN: 20.0       # Minimum Airspeed (CAS)
+FW_AIRSPD_STALL: 18.0     # Stall Airspeed (CAS)
+NAV_LOITER_RAD: 150.0     # Loiter radius (FW only)
+FW_YR_P: 0.5              # Yaw rate proportional rate
+FW_THR_TRIM: 0.38         # Trim throttle
+VT_ARSP_TRANS: 18.0       # Airspeed at which we can switch to fw mode
+VT_F_TRANS_DUR: 10.0      # Time in seconds used for a transition. Default 5.0
+VT_F_TRANS_THR: 0.8       # Target throttle value for the transition to fixed-wing flight. Default 1.0
+SENS_DPRES_OFF:   1.0
+
+FW_R_LIM: 35.0            # Default 50.0 that is out of max angle supported by the vtol dynamics
+FW_R_RMAX: 30.0           # Default 70.0
+FW_P_RMAX_NEG: 30.0       # Default 60.0
+FW_P_RMAX_POS: 30.0       # Default 60.0
+
+MC_YAWRATE_P: 1.0         # Yaw rate P gain. Default 0.2. Max 0.6.
+
+VT_B_TRANS_RAMP: 10.0     # Back transition MC motor ramp up time. Default 3.0 sec.

configs/px4/v1.14/vtol_octoplane_coaxial/cyphal.yaml

@@ -0,0 +1,18 @@
+UCAN1_ESC_FUNC1:  101 # motor 1
+UCAN1_ESC_FUNC2:  102 # motor 2
+UCAN1_ESC_FUNC3:  103 # motor 3
+UCAN1_ESC_FUNC4:  104 # motor 4
+UCAN1_ESC_FUNC5:  105 # motor 5
+UCAN1_ESC_FUNC6:  106 # motor 6
+UCAN1_ESC_FUNC7:  107 # motor 7
+UCAN1_ESC_FUNC8:  108 # motor 8
+UCAN1_ESC_FUNC9:  109 # motor 9
+UCAN1_ESC_FUNC10: 201 # servo 1 (left aileron)
+UCAN1_ESC_FUNC11: 202 # servo 2 (right aileron)
+UCAN1_ESC_FUNC12: 203 # servo 3 (elevators)
+UCAN1_ESC_FUNC13: 204 # servo 4 (rudders)
+
+UCAN1_FB4_SUB:    2504
+UCAN1_FB5_SUB:    2505
+UCAN1_FB6_SUB:    2506
+UCAN1_FB7_SUB:    2507

configs/px4/v1.14/vtol_octoplane_coaxial/dronecan.yaml

@@ -0,0 +1,9 @@
+UAVCAN_EC_FUNC1:  101 # motor 1
+UAVCAN_EC_FUNC2:  102 # motor 2
+UAVCAN_EC_FUNC3:  103 # motor 3
+UAVCAN_EC_FUNC4:  104 # motor 4
+UAVCAN_EC_FUNC5:  105 # motor 5
+UAVCAN_SV_FUNC1:  201 # servo 1 (left aileron)
+UAVCAN_SV_FUNC2:  202 # servo 2 (right aileron)
+UAVCAN_SV_FUNC3:  203 # servo 3 (elevators)
+UAVCAN_SV_FUNC4:  204 # servo 4 (rudders)

configs/px4/v1.14/vtol_octoplane_coaxial/geometry.yaml

@@ -0,0 +1,73 @@
+CA_ROTOR_COUNT:   9     # Total number of motors
+
+CA_ROTOR0_AX:     0.0
+CA_ROTOR0_AY:     0.0
+CA_ROTOR0_AZ:     -1.0
+CA_ROTOR0_KM:     0.05
+CA_ROTOR0_PX:     1.0
+CA_ROTOR0_PY:     1.0
+CA_ROTOR0_PZ:     0.0
+
+CA_ROTOR1_AX:     0.0
+CA_ROTOR1_AY:     0.0
+CA_ROTOR1_AZ:     -1.0
+CA_ROTOR1_KM:     0.05
+CA_ROTOR1_PX:     -1.0
+CA_ROTOR1_PY:     -1.0
+CA_ROTOR1_PZ:     0.0
+
+CA_ROTOR2_AX:     0.0
+CA_ROTOR2_AY:     0.0
+CA_ROTOR2_AZ:     -1.0
+CA_ROTOR2_KM:     -0.05
+CA_ROTOR2_PX:     1.0
+CA_ROTOR2_PY:     -1.0
+CA_ROTOR2_PZ:     0.0
+
+CA_ROTOR3_AX:     0.0
+CA_ROTOR3_AY:     0.0
+CA_ROTOR3_AZ:     -1.0
+CA_ROTOR3_KM:     -0.05
+CA_ROTOR3_PX:     -1.0
+CA_ROTOR3_PY:     1.0
+CA_ROTOR3_PZ:     0.0
+
+CA_ROTOR4_AX:     0.0
+CA_ROTOR4_AY:     0.0
+CA_ROTOR4_AZ:     -1.0
+CA_ROTOR4_KM:     0.05
+CA_ROTOR4_PX:     1.0
+CA_ROTOR4_PY:     1.0
+CA_ROTOR4_PZ:     0.0
+
+CA_ROTOR5_AX:     0.0
+CA_ROTOR5_AY:     0.0
+CA_ROTOR5_AZ:     -1.0
+CA_ROTOR5_KM:     0.05
+CA_ROTOR5_PX:     -1.0
+CA_ROTOR5_PY:     -1.0
+CA_ROTOR5_PZ:     0.0
+
+CA_ROTOR6_AX:     0.0
+CA_ROTOR6_AY:     0.0
+CA_ROTOR6_AZ:     -1.0
+CA_ROTOR6_KM:     -0.05
+CA_ROTOR6_PX:     1.0
+CA_ROTOR6_PY:     -1.0
+CA_ROTOR6_PZ:     0.0
+
+CA_ROTOR7_AX:     0.0
+CA_ROTOR7_AY:     0.0
+CA_ROTOR7_AZ:     -1.0
+CA_ROTOR7_KM:     -0.05
+CA_ROTOR7_PX:     -1.0
+CA_ROTOR7_PY:     1.0
+CA_ROTOR7_PZ:     0.0
+
+CA_ROTOR8_AX:     1.0
+CA_ROTOR8_AY:     0.0
+CA_ROTOR8_AZ:     0.0
+CA_ROTOR8_KM:     0.05
+CA_ROTOR8_PX:     0.0
+CA_ROTOR8_PY:     0.0
+CA_ROTOR8_PZ:     0.0

scripts/configure.sh

@@ -66,6 +66,16 @@ px4_v1_14_0_beta_cyphal_vtol() {
         ${REPOSITORY_DIR}/configs/px4/common.yaml
 }
 
+px4_v1_14_0_beta_cyphal_vtol_8_motors() {
+    wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_CYPHAL_URL
+    autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
+        ${REPOSITORY_DIR}/configs/px4/v1.14/vtol_octoplane_coaxial/airframe.yaml \
+        ${REPOSITORY_DIR}/configs/px4/v1.14/vtol_octoplane_coaxial/cyphal.yaml \
+        ${REPOSITORY_DIR}/configs/px4/v1.14/vtol_octoplane_coaxial/geometry.yaml \
+        ${REPOSITORY_DIR}/configs/px4/cyphal.yaml \
+        ${REPOSITORY_DIR}/configs/px4/common.yaml
+}
+
 if [ -z $1 ]; then
     printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Argument is not specified!$NC\n"
     exit 1
@@ -109,6 +119,8 @@ elif [[ $1 == "px4_v1_14_0_beta_dronecan_vtol" ]]; then
     px4_v1_14_0_beta_dronecan_vtol
 elif [[ $1 == "px4_v1_14_0_beta_cyphal_vtol" ]]; then
     px4_v1_14_0_beta_cyphal_vtol
+elif [[ $1 == "px4_v1_14_0_beta_cyphal_vtol_8_motors" ]]; then
+    px4_v1_14_0_beta_cyphal_vtol_8_motors
 else
     printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Unknown argument: '$1' $NC\n"
     exit 1

scripts/docker.sh

@@ -17,6 +17,7 @@ Supported modes (with aliases):
 -------------------------------------------------------------------------------
   cyphal_quadrotor,cq         | Cyphal      PX4 v1.14-beta  Quadrotor x (4001)
   cyphal_standard_vtol,csv    | Cyphal      PX4 v1.14-beta  Standard VTOL (13000)
+  cyphal_vtol_8_motors,cv8    | Cyphal      PX4 v1.14-beta  VTOL 8 motors (13050)
   dronecan_quadrotor,dq       | DroneCAN    PX4 v1.14-beta  Quadrotor (4001)
   dronecan_vtol_v1_14_0,dv    | DroneCAN    PX4 v1.14-beta  Standard VTOL (13000)
   dronecan_vtol_v1_12_1,dvo   | DroneCAN    PX4 v1.12       vtol 13070
@@ -26,8 +27,6 @@ Supported modes (with aliases):
   sitl_flight_goggles         | MAVLink     PX4 v1.12       Quadrotor (4001)
   cyphal_and_dronecan         | 2 CAN       AP  v4.4.0      Copter
 -------------------------------------------------------------------------------
-  cyphal_vtol_octoplane,cvo   | Cyphal      PX4 v1.14-beta  VTOL Octoplane (13050)
--------------------------------------------------------------------------------
 
 Commands (with aliases):
   build,b                       Build docker image
@@ -222,6 +221,16 @@ cyphal_standard_vtol() {
     docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh cyphal_standard_vtol
 }
 
+cyphal_vtol_8_motors() {
+    kill_all_related_containers
+    setup_cyphal_hitl_config
+    slcan_checker&
+    if [[ $OPTIONS == "--force" ]]; then
+        ./configure.sh px4_v1_14_0_beta_cyphal_vtol_8_motors
+    fi
+    docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh cyphal_vtol_8_motors
+}
+
 cyphal_and_dronecan_inno_vtol() {
     echo "Cyphal and DroneCAN mode is a special mode that uses:"
     echo "- slcan0 based on the 1-st sniffer for DroneCAN communication (sensors)"
@@ -278,8 +287,8 @@ elif [ "$1" = "cyphal_octorotor" ] || [ "$1" = "co" ]; then
     cyphal_octorotor
 elif [ "$1" = "cyphal_standard_vtol" ] || [ "$1" = "csv" ]; then
     cyphal_standard_vtol
-elif [ "$1" = "cyphal_vtol_octoplane" ] || [ "$1" = "cvo" ]; then
-    echo "Not ready yet" # cyphal_vtol_octoplane
+elif [ "$1" = "cyphal_vtol_8_motors" ] || [ "$1" = "cv8" ]; then
+    cyphal_vtol_8_motors
 elif [ "$1" = "cyphal_and_dronecan" ]; then
     cyphal_and_dronecan_inno_vtol
 elif [ "$1" = "interactive" ] || [ "$1" = "i" ]; then

scripts/run_sim.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 print_help() {
-   echo "Wrapper under ROS API for Innopolis VTOL Dynamics simulator.
+   echo "Wrapper under ROS API for UAV Dynamics simulator.
 It automatically run all auxilliary scripts required to each specific mode and source necessary setup.bash files.
 It supports all possible simulator modes.
 
@@ -15,12 +15,13 @@ Commands:
   dronecan_flight_goggles                 Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe
   cyphal_quadrotor                        Cyphal HITL PX4 Quadrotor (4001)
   cyphal_octorotor                        Cyphal HITL PX4 Octorotor (12001)
-  cyphal_standard_vtol                    Run dynamics simulator in Cyphal HITL mode for inno_vtol airframe.
-  cyphal_and_dronecan_inno_vtol           Run dynamics simulator in DroneCan + Cyphal mode for inno_vtol airframe.
+  cyphal_standard_vtol                    Run dynamics simulator in Cyphal HITL mode for vtol 4 motors airframe.
+  cyphal_vtol_8_motors                    Run dynamics simulator in Cyphal HITL mode for vtol 8 motors airframe.
+  cyphal_and_dronecan_inno_vtol           Run dynamics simulator in DroneCan + Cyphal mode for vtol airframe.
                                           This mode uses 2 serial ports and is in the alpha testing stage yet.
-  sitl_inno_vtol                          Run dynamics simulator in MAVLink SITL mode for inno_vtol airframe
+  sitl_inno_vtol                          Run dynamics simulator in MAVLink SITL mode for vtol airframe
   sitl_flight_goggles                     Run dynamics simulator in MAVLink SITL mode for flight_goggles airframe
-  sitl_inno_vtol_with_flight_stack        Run dynamics simulator in MAVLink SITL mode for inno_vtol airframe (with additional including px4.launch)
+  sitl_inno_vtol_with_flight_stack        Run dynamics simulator in MAVLink SITL mode for vtol airframe (with additional including px4.launch)
   sitl_flight_goggles_with_flight_stack   Run dynamics simulator in MAVLink SITL mode for flight_goggles airframe (with additional including px4.launch)
 
 Auxilliary commands:
@@ -155,6 +156,18 @@ cyphal_standard_vtol() {
         dynamics:=vtol_dynamics
 }
 
+cyphal_vtol_8_motors() {
+    setup_ros
+    setup_cyphal_hitl
+    $SCRIPT_DIR/airframe_printer.sh 13000
+    roslaunch innopolis_vtol_dynamics hitl.launch   \
+        run_cyphal_communicator:=true               \
+        logging_type:=vtol_8_motors_logger          \
+        vehicle_params:=vtol_tfm15                  \
+        mixer:=px4_v1_14_0_vtol_13000_8_motors_mixer \
+        dynamics:=vtol_dynamics
+}
+
 cyphal_and_dronecan_inno_vtol() {
     setup_ros
     setup_combined_hitl
@@ -233,6 +246,8 @@ elif [ "$1" = "cyphal_octorotor" ]; then
     cyphal_octorotor
 elif [ "$1" = "cyphal_standard_vtol" ]; then
     cyphal_standard_vtol
+elif [ "$1" = "cyphal_vtol_8_motors" ]; then
+    cyphal_vtol_8_motors
 elif [ "$1" = "cyphal_and_dronecan_inno_vtol" ]; then
     cyphal_and_dronecan_inno_vtol
 elif [ "$1" = "sitl_inno_vtol" ]; then