Pr tiltrotor sim

ROMFS/sitl/mixers/tiltrotor_sitl.main.mix

@@ -0,0 +1,41 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
+
+R: 4x 10000 10000 10000 0
+
+# tilt servo motor 1
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 2
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 3
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# tilt servo motor 4
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000 -10000 -10000  10000
+
+# mixer for the left aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  10000  10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 1 0  -10000  -10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 1   10000   10000    0 -10000  10000

platforms/posix/cmake/sitl_target.cmake

@@ -47,7 +47,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo replay)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus)
+set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})

posix-configs/SITL/init/ekf2/tiltrotor

@@ -0,0 +1,99 @@
+uorb start
+param load
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_ID 1310728
+param set CAL_ACC1_XOFF 0.01
+param set CAL_GYRO0_ID 2293768
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_MAG0_ID 196616
+param set CAL_MAG0_XOFF 0.01
+param set COM_DISARM_LAND 5
+param set COM_RC_IN_MODE 1
+param set EKF2_AID_MASK 1
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_HGT_MODE 0
+param set EKF2_MAG_TYPE 1
+param set FW_AIRSPD_MAX 25
+param set FW_AIRSPD_MIN 14
+param set FW_AIRSPD_TRIM 16
+param set MAV_TYPE 21
+param set MC_PITCH_P 6
+param set MC_PITCHRATE_P 0.2
+param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.3
+param set MIS_LTRMIN_ALT 10
+param set MIS_TAKEOFF_ALT 10
+param set MIS_YAW_TMT 10
+param set MPC_ACC_HOR_MAX 2
+param set MPC_ACC_HOR_MAX 2.0
+param set MPC_TKO_SPEED 1.0
+param set MPC_XY_P 0.8
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_VEL_I 0.2
+param set MPC_XY_VEL_P 0.15
+param set MPC_Z_VEL_I 0.15
+param set MPC_Z_VEL_MAX_DN 1.5
+param set MPC_Z_VEL_P 0.6
+param set NAV_ACC_RAD 5.0
+param set NAV_DLL_ACT 2
+param set NAV_LOITER_RAD 80
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set RTL_RETURN_ALT 30.0
+param set SDLOG_DIRS_MAX 7
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set SENS_DPRES_OFF 0.001
+param set SYS_AUTOSTART 13006
+param set SYS_MC_EST_GROUP 2
+param set SYS_RESTART_TYPE 2
+param set VT_MOT_COUNT 4
+param set VT_TRANS_THR 0.75
+param set VT_TYPE 1
+param set VT_TILT_FW 3.1415
+param set VT_TILT_TRANS 1.2
+replay tryapplyparams
+simulator start -s
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sensors start
+commander start
+land_detector start vtol
+navigator start
+ekf2 start
+vtol_att_control start
+mc_pos_control start
+mc_att_control start
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
+mavlink start -x -u 14556 -r 2000000 -f
+mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
+mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+logger start -e -t
+mavlink boot_complete
+replay trystart

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -86,6 +86,8 @@ class PWMSim : public device::CDev
 {
 	const uint32_t PWM_SIM_DISARMED_MAGIC = 900;
 	const uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
+	const uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
+	const uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
 public:
 	enum Mode {
 		MODE_2PWM,
@@ -108,7 +110,7 @@ class PWMSim : public device::CDev
 	int		_task;
 
 private:
-	static const unsigned _max_actuators = 8;
+	static const unsigned _max_actuators = 16;
 
 	Mode		_mode;
 	int 		_update_rate;
@@ -120,6 +122,8 @@ class PWMSim : public device::CDev
 	orb_advert_t	_outputs_pub;
 	unsigned	_num_outputs;
 	bool		_primary_pwm_device;
+	unsigned 	_pwm_min[_max_actuators];
+	unsigned 	_pwm_max[_max_actuators];
 
 	uint32_t	_groups_required;
 	uint32_t	_groups_subscribed;
@@ -192,6 +196,11 @@ PWMSim::PWMSim() :
 {
 	memset(_controls, 0, sizeof(_controls));
 
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		_pwm_min[i] = PWM_SIM_PWM_MIN_MAGIC;
+		_pwm_max[i] = PWM_SIM_PWM_MAX_MAGIC;
+	}
+
 	_control_topics[0] = ORB_ID(actuator_controls_0);
 	_control_topics[1] = ORB_ID(actuator_controls_1);
 	_control_topics[2] = ORB_ID(actuator_controls_2);
@@ -463,6 +472,10 @@ PWMSim::task_main()
 				num_outputs = 8;
 				break;
 
+			case MODE_12PWM:
+				num_outputs = 12;
+				break;
+
 			case MODE_16PWM:
 				num_outputs = 16;
 				break;
@@ -494,6 +507,14 @@ PWMSim::task_main()
 					/* scale for PWM output 1000 - 2000us */
 					outputs.output[i] = 1500 + (500 * outputs.output[i]);
 
+					if (outputs.output[i] > _pwm_max[i]) {
+						outputs.output[i] = _pwm_max[i];
+					}
+
+					if (outputs.output[i] < _pwm_min[i]) {
+						outputs.output[i] = _pwm_min[i];
+					}
+
 				} else {
 					/*
 					 * Value is NaN, INF or out of band - set to the minimum value.
@@ -618,6 +639,32 @@ PWMSim::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		// up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_MIN_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < pwm->channel_count; i++) {
+
+				if (i <= _max_actuators) {
+					_pwm_min[i] = pwm->values[i];
+				}
+			}
+
+			break;
+		}
+
+	case PWM_SERVO_SET_MAX_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < pwm->channel_count; i++) {
+
+				if (i <= _max_actuators) {
+					_pwm_max[i] = pwm->values[i];
+				}
+			}
+
+			break;
+		}
+
 	case PWM_SERVO_SET_UPDATE_RATE:
 		// PWMSim always outputs at the alternate (usually faster) rate
 		g_pwm_sim->set_pwm_rate(arg);
@@ -754,6 +801,10 @@ PWMSim::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		if (_mode == MODE_16PWM) {
 			*(unsigned *)arg = 16;
 
+		} else if (_mode == MODE_12PWM) {
+
+			*(unsigned *)arg = 12;
+
 		} else if (_mode == MODE_8PWM) {
 
 			*(unsigned *)arg = 8;
@@ -993,7 +1044,7 @@ pwm_out_sim_main(int argc, char *argv[])
 
 	// this was all cut-and-pasted from the FMU driver; it's junk
 	if (!strcmp(verb, "mode_pwm")) {
-		new_mode = PORT1_FULL_PWM;
+		new_mode = PORT2_12PWM;
 
 	} else if (!strcmp(verb, "mode_port2_pwm8")) {
 		new_mode = PORT2_8PWM;

src/modules/simulator/simulator_mavlink.cpp

@@ -94,26 +94,21 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
 	    _system_type == MAV_TYPE_OCTOROTOR ||
 	    _system_type == MAV_TYPE_VTOL_DUOROTOR ||
 	    _system_type == MAV_TYPE_VTOL_QUADROTOR ||
+	    _system_type == MAV_TYPE_VTOL_TILTROTOR ||
 	    _system_type == MAV_TYPE_VTOL_RESERVED2) {
 
 		/* multirotors: set number of rotor outputs depending on type */
 
 		unsigned n;
 
 		switch (_system_type) {
-		case MAV_TYPE_QUADROTOR:
-			n = 4;
-			break;
-
-		case MAV_TYPE_HEXAROTOR:
-			n = 6;
-			break;
-
 		case MAV_TYPE_VTOL_DUOROTOR:
 			n = 2;
 			break;
 
+		case MAV_TYPE_QUADROTOR:
 		case MAV_TYPE_VTOL_QUADROTOR:
+		case MAV_TYPE_VTOL_TILTROTOR:
 			n = 4;
 			break;
 
@@ -122,6 +117,10 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
 			n = 5;
 			break;
 
+		case MAV_TYPE_HEXAROTOR:
+			n = 6;
+			break;
+
 		default:
 			n = 8;
 			break;

src/modules/systemlib/param/param.c

@@ -1275,8 +1275,8 @@ param_import_internal(int fd, bool mark_saved)
 	int result = -1;
 
 	if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state)) {
-		PX4_ERR("decoder init failed");
-		goto out;
+		PX4_WARN("decoder init failed");
+		return -ENODATA;
 	}
 
 	state.mark_saved = mark_saved;
@@ -1287,12 +1287,6 @@ param_import_internal(int fd, bool mark_saved)
 
 	} while (result > 0);
 
-out:
-
-	if (result < 0) {
-		PX4_ERR("BSON error decoding parameters");
-	}
-
 	return result;
 }