gz simulation adding tiltrotor airframe #24028

Perrrewi · 2024-11-22T15:12:20Z

Solved Problem

Moving the tiltrotor from gazebo classic to gz sim as gazebo garden will be depreciated by the end of nov 24

Solution

Adding an airframe and fixed the bug in gz-bridge. PX4 sends an output value from 0 to 1000 of the servo and the GZbridge normalized it to be within +-1. The problem was that gazebo needs a servo input of angles in radian which meant the currently servos only works in the range +-1 rad.

Test coverage

Tested with QGC

Context

Depends on: Pr gz sim tiltrotor PX4-gazebo-models#66

Test: Toggling the actuator testing slider with max output value 1000 while gazebo angle limitations were set to 90 deg

Before updating GZMixingInterfaceServo.cpp:

After updating GZMixingInterfaceServo.cpp:

github-actions · 2024-11-22T15:29:49Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 8 byte (0 %)]

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  +0.2%      +3  +0.2%      +3    ../../src/systemcmds/ver/ver.cpp
+0.0%     +56  [ = ]       0    .debug_abbrev
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
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px4_fmu-v6x [Total VM Diff: 0 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +56  [ = ]       0    .debug_abbrev
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
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+0.0%      +8  [ = ]       0    TOTAL

Updated: 2024-12-16T13:06:17

Jaeyoung-Lim · 2024-12-02T19:51:52Z

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

@@ -64,8 +64,8 @@ bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MA
 	for (auto &servo_pub : _servos_pub) {
 		if (_mixing_output.isFunctionSet(i)) {
 			gz::msgs::Double servo_output;
-			///TODO: Normalize output data
-			double output = (outputs[i] - 500) / 500.0;
+			double output = math::radians((double)outputs[i] / 10. - 180.);;


Are you assuming +1 is always 180 degrees? This is not true in general. We need a parameter defined which maps the normalized angles to servo angles. (part of the reason why the +1 radian was left like that)

I assume that we only use angles within +-180 deg and the output default values has been changed.

So if we want a zero symmetrical range of +-45 deg, then output max is set to 2250, and min to 1350.

@Perrrewi I am not talking about the limits, but rather that the angles need to be configurable. For example, tiltrotors normally operate the servo angles 0-90 deg, which you could do with +-45, but it would be great if we can actually do it properly and configure it.

@Jaeyoung-Lim I made an update with angle min max as parameters.

I tried adding the parameters on the control surface parameters CA_SV_CS in the control allocator, but then some targets got out of flash memory.

For now I cannot see a good solution before changing the types from uints to floats as proposed here: #22488

Claudio-Chies

Looks good, I assume this is what jaey meant with the parameter based implementation,
left just a few minor improvements, to avoid issues with other airframe implementations if accessing out of range indices.

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

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

…utputs

Jaeyoung-Lim · 2024-12-16T17:25:16Z

src/modules/simulation/gz_bridge/module.yaml

+        disarmed: { min: 0, max: 3600, default: 1800 }
+        min: { min: 0, max: 3600, default: 1350 }
+        max: { min: 0, max: 3600, default: 2250 }
+        failsafe: { min: 0, max: 3600 }


Where do these numbers come from? Can we normalize it for simulation?

Jaeyoung-Lim · 2024-12-16T17:26:06Z

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

@@ -33,6 +33,9 @@

 #include "GZMixingInterfaceServo.hpp"

+#define SERVO_OUTPUT_SCALING (10.)


Jaeyoung-Lim · 2024-12-16T17:26:25Z

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

@@ -33,6 +33,9 @@

 #include "GZMixingInterfaceServo.hpp"

+#define SERVO_OUTPUT_SCALING (10.)
+#define SERVO_OUTPUT_OFFSET (180.)


Why is it necessary to have this as an ifdef?

Perrrewi self-assigned this Nov 22, 2024

Perrrewi mentioned this pull request Nov 22, 2024

(new) GZ Feature tracker #23602

Open

30 tasks

Perrrewi force-pushed the pr-add-quadtailsitter branch from 8d2185c to 827ed69 Compare November 26, 2024 08:32

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from c8bd4a4 to d223a8a Compare November 26, 2024 11:04

Perrrewi changed the title ~~Pr gz sim tiltrotor~~ Draft: Pr gz sim tiltrotor Nov 26, 2024

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from d223a8a to 08494be Compare November 26, 2024 16:13

Perrrewi changed the title ~~Draft: Pr gz sim tiltrotor~~ Pr gz sim tiltrotor Nov 27, 2024

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from bf264cf to 66ab707 Compare November 28, 2024 17:53

Perrrewi force-pushed the pr-add-quadtailsitter branch from 827ed69 to 81fc89a Compare November 29, 2024 08:04

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from b561a74 to 4ec9990 Compare November 29, 2024 09:10

Perrrewi force-pushed the pr-add-quadtailsitter branch from 81fc89a to f08beb8 Compare December 2, 2024 09:53

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 4ec9990 to d47d5f8 Compare December 2, 2024 10:10

Claudio-Chies force-pushed the pr-add-quadtailsitter branch from 28a3c8b to 1ab426e Compare December 2, 2024 14:39

Base automatically changed from pr-add-quadtailsitter to main December 2, 2024 16:27

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from d47d5f8 to ab93cd7 Compare December 2, 2024 16:54

Jaeyoung-Lim requested changes Dec 2, 2024

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Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 3 times, most recently from 0c60b0b to 642f09f Compare December 4, 2024 15:18

Perrrewi mentioned this pull request Dec 5, 2024

Draft: Adding descriptions of tiltrotor and quadtailsitter PX4/PX4-user_guide#3469

Open

4 tasks

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from 33d2023 to 94da813 Compare December 11, 2024 17:15

Claudio-Chies self-requested a review December 12, 2024 07:09

Perrrewi changed the title ~~Pr gz sim tiltrotor~~ gz simulation adding tiltrotor airframe Dec 12, 2024

Claudio-Chies reviewed Dec 16, 2024

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src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp Outdated Show resolved Hide resolved

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp Outdated Show resolved Hide resolved

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt Outdated Show resolved Hide resolved

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 94da813 to 639b005 Compare December 16, 2024 10:58

Perrrewi added 2 commits December 16, 2024 13:57

Adding tiltrotor model

6241fb2

Adjust to gz, and quick tuning

6146787

Perrrewi added 5 commits December 16, 2024 13:57

Adding min-max angles on controlsurface to use for normalized servo o…

f1d1214

…utputs

Add function descriptions

705626f

Set parameters in GZBridge to avoid flash memory issues

13d780a

Set airframe number in falling order

fd9b954

Add todo

6b83045

Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 639b005 to 6b83045 Compare December 16, 2024 13:01

Jaeyoung-Lim requested changes Dec 16, 2024

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gz simulation adding tiltrotor airframe #24028

gz simulation adding tiltrotor airframe #24028

Perrrewi commented Nov 22, 2024 •

edited by Claudio-Chies

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Jaeyoung-Lim Dec 16, 2024

		@@ -33,6 +33,9 @@

		#include "GZMixingInterfaceServo.hpp"

		#define SERVO_OUTPUT_SCALING (10.)

gz simulation adding tiltrotor airframe #24028

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gz simulation adding tiltrotor airframe #24028

Conversation

Perrrewi commented Nov 22, 2024 • edited by Claudio-Chies Loading

Solved Problem

Solution

Test coverage

Context

Test: Toggling the actuator testing slider with max output value 1000 while gazebo angle limitations were set to 90 deg

github-actions bot commented Nov 22, 2024 • edited Loading

🔎 FLASH Analysis

Jaeyoung-Lim Dec 2, 2024

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Perrrewi commented Nov 22, 2024 •

edited by Claudio-Chies

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