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add support for unmanned underwater vehicles (#14079)

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* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module  uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
This commit is contained in:
Daniel Duecker
2020-02-05 05:24:37 +01:00
committed by GitHub
parent a82428c5fd
commit 36f836be79
23 changed files with 1072 additions and 31 deletions
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8
ROMFS/px4fmu_common/init.d-posix/1020_hippocampus
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@@ -1,8 +0,0 @@
#!/bin/sh
#
# @name Hippocampus UUV
#
sh /etc/init.d/rc.mc_defaults
set MIXER uuv_quad_x

23
ROMFS/px4fmu_common/init.d-posix/1020_uuv_generic Normal file
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@@ -0,0 +1,23 @@
#!/bin/sh
#
# @name UUV
#
sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
fi
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom

23
ROMFS/px4fmu_common/init.d-posix/1021_uuv_hippocampus Normal file
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@@ -0,0 +1,23 @@
#!/bin/sh
#
# @name Hippocampus UUV
#
sh /etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled, 4: Data Link Auto Recovery (CASA Outback Challenge rules))
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
fi
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom