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PonomarevDAPonomarevDA
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add octorotor dynamics (#32)
- add octorotor dynamics - add ariframe printer - add --force option to force upload firmware and update params - update docker.sh commands - update cyphal configs
1 parent 136d1a3 commit f2dcbcc

14 files changed

Lines changed: 395 additions & 241 deletions

‎README.md‎

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@@ -44,9 +44,9 @@ The following modes are supported as well, but they are not well-tested:
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| № | Autopilot | Communicator | dynamics | Airframe |
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| - | -------- | --------- | ------------ | -------- |
47-
| 1 | PX4 v1.12| DroneCAN HITL | flightgoggles_multicopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
47+
| 1 | PX4 v1.12| DroneCAN HITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
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| 2 | PX4 v1.12 | MAVLink SITL | inno_vtol | innopolis_vtol [(1050)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/1050_innopolis_vtol) |
49-
| 3 | PX4 v1.12 | MAVLink SITL | flightgoggles_multicopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
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| 3 | PX4 v1.12 | MAVLink SITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
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| 4 | ArduPilot v4.3/v4.4 | DroneCAN HITL | inno_vtol | copter |
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| 5 | ArduPilot v4.3/v4.4 | Cyphal HITL | inno_vtol | copter |
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@@ -126,11 +126,11 @@ wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.13.0_h
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**Step 5. Configure autopilot**
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You need to run the [scripts/autopilot_configure.py](scripts/autopilot_configure.py). It will automatically will reset your parameters to default, and then configure exactly the parameters your autopilot needs for the HITL simulation. It will automatically restart the autopilot a few times.
129+
You need to run the [scripts/parameters_configurator.py](scripts/parameters_configurator.py). It will automatically will reset your parameters to default, and then configure exactly the parameters your autopilot needs for the HITL simulation. It will automatically restart the autopilot a few times.
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```bash
132132
pip install mavlink_tools
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./scripts/autopilot_configure.py <desired_mode>
133+
./scripts/parameters_configurator.py <desired_mode>
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```
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If your desired mode is not supported, refer to the corresponded section for the details:

‎communicators/cyphal_communicator‎

‎configs/px4_v1.14_inno_quadcopter_airframe.yaml‎

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1+
SYS_AUTOSTART: 4001
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UCAN1_ESC_FUNC1: 101
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UCAN1_ESC_FUNC2: 102
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UCAN1_ESC_FUNC3: 103
6+
UCAN1_ESC_FUNC4: 104
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MC_YAWRATE_P: 0.6
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MC_YAWRATE_I: 0.02
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MC_YAWRATE_MAX: 40.0

‎configs/px4_v1.14_octorotor_airframe.yaml‎

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SYS_AUTOSTART: 12001
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UCAN1_ESC_FUNC1: 101
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UCAN1_ESC_FUNC2: 102
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UCAN1_ESC_FUNC3: 103
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UCAN1_ESC_FUNC4: 104
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UCAN1_ESC_FUNC5: 105
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UCAN1_ESC_FUNC6: 106
9+
UCAN1_ESC_FUNC7: 107
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UCAN1_ESC_FUNC8: 108
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MC_YAWRATE_P: 0.2
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MC_YAWRATE_I: 0.1
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MC_YAWRATE_MAX: 200.0

‎configs/px4_v1.14_quadcopter_airframe.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -5,6 +5,6 @@ UCAN1_ESC_FUNC2: 102
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UCAN1_ESC_FUNC3: 103
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UCAN1_ESC_FUNC4: 104
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8-
MC_YAWRATE_P: 0.6
9-
MC_YAWRATE_I: 0.02
10-
MC_YAWRATE_MAX: 40.0
8+
MC_YAWRATE_P: 0.2
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MC_YAWRATE_I: 0.1
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MC_YAWRATE_MAX: 200.0

‎scripts/airframe_printer.sh‎

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#!/bin/bash
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PX4_QUADROTOR_X_4001="""
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___ ___
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/ \ / \
6+
| 3 | | 1 |
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\___/\ /\___/
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\_____/
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| PX4 |
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|4001 |
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|_____|
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___ / \ ___
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/ \/ \/ \
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| 2 | | 4 |
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\___/ \___/
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"""
17+
18+
PX4_OCTOROTOR_COAXIAL_12001="""
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___ ___
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/ \ / \
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| 2,5 | | 1,6 |
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\___/\ /\___/
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\_____/
24+
| PX4 |
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|12001|
26+
|_____|
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___ / \ ___
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/ \/ \/ \
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| 3,8 | | 4,7 |
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\___/ \___/
31+
"""
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33+
PX4_STANDARD_VTOL_13000="""
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___ ___
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/ \ _ / \
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| 3 | / \ | 1 |
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\___/ / \ \___/
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| | | |
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__|___| PX4 |___|__
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/ | 13000 | \
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/__ |_____________|___\
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_|_ | | _|_
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/ \ | | / \
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| 2 | | | | 4 |
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\___/ | | \___/
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___| |___
47+
/__________\
48+
"""
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PX4_VTOL_OCTOPLANE_13050="""
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___ ___
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/ \ _ / \
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| 2,5 | / \ | 1,6 |
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\___/ / \ \___/
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| | | |
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__|___| PX4 |___|__
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/ | 13050 | \
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/__ |_____________|___\
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_|_ | | _|_
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/ \ | | / \
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| 3,8 | | | | 4,7 |
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\___/ | | \___/
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___| |___
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/__________\
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"""
66+
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if [[ $1 == 4001 ]]; then
68+
echo """
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PX4 Quadrotor x
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(4001)$PX4_QUADROTOR_X_4001"""
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elif [[ $1 == 12001 ]]; then
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echo """
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PX4 Octorotor Coaxial
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(12001)$PX4_OCTOROTOR_COAXIAL_12001"""
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elif [[ $1 == 13000 ]]; then
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echo """
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PX4 Standard VTOL
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(13000)$PX4_STANDARD_VTOL_13000"""
81+
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elif [[ $1 == 13050 ]]; then
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echo """
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PX4 VTOL Octoplane
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(13050)$PX4_VTOL_OCTOPLANE_13050"""
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fi

‎scripts/autopilot_configurator.sh‎

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#!/bin/bash
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echo ""
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echo "Automatical configuration:"
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echo "1. Download firmware"
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echo "2. Upload firmware to the autopilot"
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echo "3. Configure parameters"
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wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.3.0-beta1/px4_fmu-v5_cyphal.px4
10+
./px4/upload.sh px4_fmu-v5_cyphal.px4
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if [[ $1 == 4001 ]]; then
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./parameters_configurator.py px4_v1_14_cyphal_quadcopter_configs
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elif [[ $1 == 12001 ]]; then
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./parameters_configurator.py px4_v1_14_cyphal_octorotor_configs
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elif [[ $1 == 13000 ]]; then
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./parameters_configurator.py px4_v1_14_cyphal_inno_quadcopter_configs
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elif [[ $1 == 13050 ]]; then
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echo $1
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fi

‎scripts/cyphal_config_slcan0.sh‎

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Original file line numberDiff line numberDiff line change
@@ -17,96 +17,4 @@ export UAVCAN__NODE__ID=2
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export ALLOCATION_TABLE_PATH=allocation_table.db
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20-
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# Todo: identifiers should be defined dynamicly in future
22-
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# Kotleta mock port id. Common for all ESC:
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export UAVCAN__SUB__NOTE_RESPONSE__ID=2341
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export UAVCAN__SUB__SETPOINT__ID=2342
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export UAVCAN__SUB__READINESS__ID=2343
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# Kotleta mock port id. ESC #1:
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export UAVCAN__PUB__ESC_HEARTBEAT_1__ID=2374
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export UAVCAN__PUB__FEEDBACK_1__ID=2375
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export UAVCAN__PUB__POWER_1__ID=2376
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export UAVCAN__PUB__STATUS_1__ID=2377
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export UAVCAN__PUB__DYNAMICS_1__ID=2378
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# Kotleta mock port id. ESC #2:
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export UAVCAN__PUB__ESC_HEARTBEAT_2__ID=2354
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export UAVCAN__PUB__FEEDBACK_2__ID=2355
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export UAVCAN__PUB__POWER_2__ID=2356
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export UAVCAN__PUB__STATUS_2__ID=2357
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export UAVCAN__PUB__DYNAMICS_2__ID=2358
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# Kotleta mock port id. ESC #3:
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export UAVCAN__PUB__ESC_HEARTBEAT_3__ID=2364
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export UAVCAN__PUB__FEEDBACK_3__ID=2365
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export UAVCAN__PUB__POWER_3__ID=2366
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export UAVCAN__PUB__STATUS_3__ID=2367
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export UAVCAN__PUB__DYNAMICS_3__ID=2368
48-
49-
# Kotleta mock port id. ESC #4:
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export UAVCAN__PUB__ESC_HEARTBEAT_4__ID=2344
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export UAVCAN__PUB__FEEDBACK_4__ID=2345
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export UAVCAN__PUB__POWER_4__ID=2346
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export UAVCAN__PUB__STATUS_4__ID=2347
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export UAVCAN__PUB__DYNAMICS_4__ID=2348
55-
56-
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# Server node port id. Common for all ESC:
59-
export UAVCAN__PUB__NOTE_RESPONSE__ID=$UAVCAN__SUB__NOTE_RESPONSE__ID
60-
export UAVCAN__PUB__SETPOINT__ID=$UAVCAN__SUB__SETPOINT__ID
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export UAVCAN__PUB__READINESS__ID=$UAVCAN__SUB__READINESS__ID
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# Server node port id. ESC #1:
64-
export UAVCAN__SUB__ESC_HEARTBEAT_1__ID=$UAVCAN__PUB__ESC_HEARTBEAT_1__ID
65-
export UAVCAN__SUB__FEEDBACK_1__ID=$UAVCAN__PUB__FEEDBACK_1__ID
66-
export UAVCAN__SUB__POWER_1__ID=$UAVCAN__PUB__POWER_1__ID
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export UAVCAN__SUB__STATUS_1__ID=$UAVCAN__PUB__STATUS_1__ID
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export UAVCAN__SUB__DYNAMICS_1__ID=$UAVCAN__PUB__DYNAMICS_1__ID
69-
70-
# Server node port id. ESC #2:
71-
export UAVCAN__SUB__ESC_HEARTBEAT_2__ID=$UAVCAN__PUB__ESC_HEARTBEAT_2__ID
72-
export UAVCAN__SUB__FEEDBACK_2__ID=$UAVCAN__PUB__FEEDBACK_2__ID
73-
export UAVCAN__SUB__POWER_2__ID=$UAVCAN__PUB__POWER_2__ID
74-
export UAVCAN__SUB__STATUS_2__ID=$UAVCAN__PUB__STATUS_2__ID
75-
export UAVCAN__SUB__DYNAMICS_2__ID=$UAVCAN__PUB__DYNAMICS_2__ID
76-
77-
# Server node port id. ESC #3:
78-
export UAVCAN__SUB__ESC_HEARTBEAT_3__ID=$UAVCAN__PUB__ESC_HEARTBEAT_3__ID
79-
export UAVCAN__SUB__FEEDBACK_3__ID=$UAVCAN__PUB__FEEDBACK_3__ID
80-
export UAVCAN__SUB__POWER_3__ID=$UAVCAN__PUB__POWER_3__ID
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export UAVCAN__SUB__STATUS_3__ID=$UAVCAN__PUB__STATUS_3__ID
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export UAVCAN__SUB__DYNAMICS_3__ID=$UAVCAN__PUB__DYNAMICS_3__ID
83-
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# Server node port id. ESC #4:
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export UAVCAN__SUB__ESC_HEARTBEAT_4__ID=$UAVCAN__PUB__ESC_HEARTBEAT_4__ID
86-
export UAVCAN__SUB__FEEDBACK_4__ID=$UAVCAN__PUB__FEEDBACK_4__ID
87-
export UAVCAN__SUB__POWER_4__ID=$UAVCAN__PUB__POWER_4__ID
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export UAVCAN__SUB__STATUS_4__ID=$UAVCAN__PUB__STATUS_4__ID
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export UAVCAN__SUB__DYNAMICS_4__ID=$UAVCAN__PUB__DYNAMICS_4__ID
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# HITL sensors
92-
export UAVCAN__PUB__ACCEL__ID=2400
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export UAVCAN__PUB__GYRO__ID=2401
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export UAVCAN__PUB__MAGNETOMETER__ID=2402
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export UAVCAN__PUB__BARO_TEMPERATURE__ID=2403
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export UAVCAN__PUB__BARO_PRESSURE__ID=2404
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export UAVCAN__PUB__GPS_YAW__ID=2405
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export UAVCAN__PUB__GPS_POINT__ID=2406
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export UAVCAN__PUB__GPS_SATS__ID=2407
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export UAVCAN__PUB__GPS_STATUS__ID=2408
101-
export UAVCAN__PUB__GPS_PDOP__ID=2409
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103-
# HITL Actuators
104-
export UAVCAN__PUB__ESC_STATUS_0__ID=2500
105-
export UAVCAN__PUB__ESC_STATUS_1__ID=2501
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export UAVCAN__PUB__ESC_STATUS_2__ID=2502
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export UAVCAN__PUB__ESC_STATUS_3__ID=2503
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109-
export UAVCAN__PUB__ESC_STATUS_4__ID=2504
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export UAVCAN__PUB__ESC_STATUS_5__ID=2505
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export UAVCAN__PUB__ESC_STATUS_6__ID=2506
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export UAVCAN__PUB__ESC_STATUS_7__ID=2507
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source $SCRIPT_DIR/cyphal_port_id.sh

‎scripts/cyphal_config_slcan1.sh‎

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Original file line numberDiff line numberDiff line change
@@ -17,85 +17,4 @@ export UAVCAN__NODE__ID=2
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export ALLOCATION_TABLE_PATH=allocation_table.db
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# Todo: identifiers should be defined dynamicly in future
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# Kotleta mock port id. Common for all ESC:
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export UAVCAN__SUB__NOTE_RESPONSE__ID=2341
25-
export UAVCAN__SUB__SETPOINT__ID=2342
26-
export UAVCAN__SUB__READINESS__ID=2343
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# Kotleta mock port id. ESC #1:
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export UAVCAN__PUB__ESC_HEARTBEAT_1__ID=2374
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export UAVCAN__PUB__FEEDBACK_1__ID=2375
31-
export UAVCAN__PUB__POWER_1__ID=2376
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export UAVCAN__PUB__STATUS_1__ID=2377
33-
export UAVCAN__PUB__DYNAMICS_1__ID=2378
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# Kotleta mock port id. ESC #2:
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export UAVCAN__PUB__ESC_HEARTBEAT_2__ID=2354
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export UAVCAN__PUB__FEEDBACK_2__ID=2355
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export UAVCAN__PUB__POWER_2__ID=2356
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export UAVCAN__PUB__STATUS_2__ID=2357
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export UAVCAN__PUB__DYNAMICS_2__ID=2358
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# Kotleta mock port id. ESC #3:
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export UAVCAN__PUB__ESC_HEARTBEAT_3__ID=2364
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export UAVCAN__PUB__FEEDBACK_3__ID=2365
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export UAVCAN__PUB__POWER_3__ID=2366
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export UAVCAN__PUB__STATUS_3__ID=2367
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export UAVCAN__PUB__DYNAMICS_3__ID=2368
48-
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# Kotleta mock port id. ESC #4:
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export UAVCAN__PUB__ESC_HEARTBEAT_4__ID=2344
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export UAVCAN__PUB__FEEDBACK_4__ID=2345
52-
export UAVCAN__PUB__POWER_4__ID=2346
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export UAVCAN__PUB__STATUS_4__ID=2347
54-
export UAVCAN__PUB__DYNAMICS_4__ID=2348
55-
56-
57-
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# Server node port id. Common for all ESC:
59-
export UAVCAN__PUB__NOTE_RESPONSE__ID=$UAVCAN__SUB__NOTE_RESPONSE__ID
60-
export UAVCAN__PUB__SETPOINT__ID=$UAVCAN__SUB__SETPOINT__ID
61-
export UAVCAN__PUB__READINESS__ID=$UAVCAN__SUB__READINESS__ID
62-
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# Server node port id. ESC #1:
64-
export UAVCAN__SUB__ESC_HEARTBEAT_1__ID=$UAVCAN__PUB__ESC_HEARTBEAT_1__ID
65-
export UAVCAN__SUB__FEEDBACK_1__ID=$UAVCAN__PUB__FEEDBACK_1__ID
66-
export UAVCAN__SUB__POWER_1__ID=$UAVCAN__PUB__POWER_1__ID
67-
export UAVCAN__SUB__STATUS_1__ID=$UAVCAN__PUB__STATUS_1__ID
68-
export UAVCAN__SUB__DYNAMICS_1__ID=$UAVCAN__PUB__DYNAMICS_1__ID
69-
70-
# Server node port id. ESC #2:
71-
export UAVCAN__SUB__ESC_HEARTBEAT_2__ID=$UAVCAN__PUB__ESC_HEARTBEAT_2__ID
72-
export UAVCAN__SUB__FEEDBACK_2__ID=$UAVCAN__PUB__FEEDBACK_2__ID
73-
export UAVCAN__SUB__POWER_2__ID=$UAVCAN__PUB__POWER_2__ID
74-
export UAVCAN__SUB__STATUS_2__ID=$UAVCAN__PUB__STATUS_2__ID
75-
export UAVCAN__SUB__DYNAMICS_2__ID=$UAVCAN__PUB__DYNAMICS_2__ID
76-
77-
# Server node port id. ESC #3:
78-
export UAVCAN__SUB__ESC_HEARTBEAT_3__ID=$UAVCAN__PUB__ESC_HEARTBEAT_3__ID
79-
export UAVCAN__SUB__FEEDBACK_3__ID=$UAVCAN__PUB__FEEDBACK_3__ID
80-
export UAVCAN__SUB__POWER_3__ID=$UAVCAN__PUB__POWER_3__ID
81-
export UAVCAN__SUB__STATUS_3__ID=$UAVCAN__PUB__STATUS_3__ID
82-
export UAVCAN__SUB__DYNAMICS_3__ID=$UAVCAN__PUB__DYNAMICS_3__ID
83-
84-
# Server node port id. ESC #4:
85-
export UAVCAN__SUB__ESC_HEARTBEAT_4__ID=$UAVCAN__PUB__ESC_HEARTBEAT_4__ID
86-
export UAVCAN__SUB__FEEDBACK_4__ID=$UAVCAN__PUB__FEEDBACK_4__ID
87-
export UAVCAN__SUB__POWER_4__ID=$UAVCAN__PUB__POWER_4__ID
88-
export UAVCAN__SUB__STATUS_4__ID=$UAVCAN__PUB__STATUS_4__ID
89-
export UAVCAN__SUB__DYNAMICS_4__ID=$UAVCAN__PUB__DYNAMICS_4__ID
90-
91-
# HITL sensors
92-
export UAVCAN__PUB__ACCEL__ID=2400
93-
export UAVCAN__PUB__GYRO__ID=2401
94-
export UAVCAN__PUB__MAGNETOMETER__ID=2402
95-
export UAVCAN__PUB__BARO_TEMPERATURE__ID=2403
96-
export UAVCAN__PUB__BARO_PRESSURE__ID=2404
97-
export UAVCAN__PUB__GPS_YAW__ID=2405
98-
export UAVCAN__PUB__GPS_POINT__ID=2406
99-
export UAVCAN__PUB__GPS_SATS__ID=2407
100-
export UAVCAN__PUB__GPS_STATUS__ID=2408
101-
export UAVCAN__PUB__GPS_PDOP__ID=2409
20+
source $SCRIPT_DIR/cyphal_port_id.sh

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