Simulation: deprecate pwm_out_sim module HITL mode and use only pwm_e…

…sc module
tiiuae · Dec 3, 2024 · 0a46375 · 0a46375
1 parent 29060c5
commit 0a46375
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Showing 29 changed files with 229 additions and 394 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -265,9 +265,10 @@ manual_control start
 sensors start
 commander start
 
+# only required for classic gazebo and jMAVSim simulator
 if [ "$VEHICLE_TYPE" != "rover" ]
 then
-	if ! pwm_out_sim start -m sim
+	if ! pwm_out_sim start
 	then
 		tune_control play error
 	fi

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@@ -28,10 +28,10 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
 
 # disable some checks to allow to fly
 # - without real battery

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -77,14 +77,14 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
 
 
 param set SYS_HITL 1

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -27,10 +27,10 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@@ -27,13 +27,13 @@ param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+param set-default PWM_MAIN_REV 2
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 400
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@@ -43,11 +43,11 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC5 202
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_REV 32
 
 param set-default MAV_TYPE 19
 

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil b/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil
@@ -32,10 +32,25 @@ param set-default CA_ROTOR3_PX -0.175
 param set-default CA_ROTOR3_PY 0.175
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 1000
+param set-default PWM_MAIN_MAX2 1000
+param set-default PWM_MAIN_MAX3 1000
+param set-default PWM_MAIN_MAX4 1000
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 # Set takeoff ramp to disabled for a more decisive takeoff action
 param set-default MPC_TKO_RAMP_T 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil
@@ -30,28 +30,41 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2
 
 # HITL PWM functions
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_MIN1 10
-param set-default HIL_ACT_MAX1 1500
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_MIN2 10
-param set-default HIL_ACT_MAX2 1500
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_MIN3 10
-param set-default HIL_ACT_MAX3 1500
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_MIN4 10
-param set-default HIL_ACT_MAX4 1500
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_MIN5 0
-param set-default HIL_ACT_MAX5 3500
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_DIS6 500
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_DIS7 500
-param set-default HIL_ACT_FUNC8 203
-param set-default HIL_ACT_DIS8 500
+param set PWM_MAIN_FUNC1 101
+param set PWM_MAIN_FUNC2 102
+param set PWM_MAIN_FUNC3 103
+param set PWM_MAIN_FUNC4 104
+param set PWM_MAIN_FUNC5 105
+param set PWM_MAIN_FUNC6 201
+param set PWM_MAIN_FUNC7 202
+param set PWM_MAIN_FUNC8 203
 
+param set PWM_MAIN_MIN1 10
+param set PWM_MAIN_MIN2 10
+param set PWM_MAIN_MIN3 10
+param set PWM_MAIN_MIN4 10
+param set PWM_MAIN_MIN5 0
+param set PWM_MAIN_MIN6 0
+param set PWM_MAIN_MIN7 0
+param set PWM_MAIN_MIN8 0
+
+param set PWM_MAIN_MAX1 1500
+param set PWM_MAIN_MAX2 1500
+param set PWM_MAIN_MAX3 1500
+param set PWM_MAIN_MAX4 1500
+param set PWM_MAIN_MAX5 3500
+param set PWM_MAIN_MAX6 1000
+param set PWM_MAIN_MAX7 1000
+param set PWM_MAIN_MAX8 1000
+
+param set PWM_MAIN_DIS1 0
+param set PWM_MAIN_DIS2 0
+param set PWM_MAIN_DIS3 0
+param set PWM_MAIN_DIS4 0
+param set PWM_MAIN_DIS5 0
+param set PWM_MAIN_DIS6 500
+param set PWM_MAIN_DIS7 500
+param set PWM_MAIN_DIS8 500
 
 param set-default ASPD_PRIMARY 1
 

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil b/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil
@@ -21,13 +21,21 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 
 # HITL PWM functions
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_DIS1 500
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_DIS2 500
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_MIN4 150
-param set-default HIL_ACT_MAX4 1000
+param set PWM_MAIN_FUNC1 201
+param set PWM_MAIN_FUNC2 202
+param set PWM_MAIN_FUNC4 101
+
+param set PWM_MAIN_MIN1 0
+param set PWM_MAIN_MIN2 0
+param set PWM_MAIN_MIN4 150
+
+param set PWM_MAIN_MAX1 1000
+param set PWM_MAIN_MAX2 1000
+param set PWM_MAIN_MAX4 3000
+
+param set PWM_MAIN_DIS1 500
+param set PWM_MAIN_DIS2 500
+param set PWM_MAIN_DIS4 0
 
 # Airspeed parameters
 param set-default ASPD_PRIMARY 1

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor b/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
@@ -51,12 +51,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-# HITL PWM functions
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # Increase velocity controller P gain
 param set-default MPC_XY_VEL_P_ACC 2.4
 

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -355,11 +355,6 @@ else
 	#
 	if param greater SYS_HITL 0
 	then
-		if ! pwm_out_sim start -m hil
-		then
-			tune_control play error
-		fi
-
 		sensors start -h
 		commander start -h
 		# disable GPS

diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
@@ -5,7 +5,6 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y

diff --git a/boards/ssrc/saluki-nxp93 b/boards/ssrc/saluki-nxp93
diff --git a/boards/ssrc/saluki-pi b/boards/ssrc/saluki-pi
diff --git a/boards/ssrc/saluki-v1 b/boards/ssrc/saluki-v1
diff --git a/boards/ssrc/saluki-v2 b/boards/ssrc/saluki-v2
diff --git a/boards/ssrc/saluki-v3 b/boards/ssrc/saluki-v3
diff --git a/src/drivers/pwm_esc/pwm_esc.cpp b/src/drivers/pwm_esc/pwm_esc.cpp
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-/**
+/**const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
  * @file pwm_esc.cpp
- * Driver for the NuttX PWM driver controleed escs
+ * Driver for the NuttX PWM driver controlled escs
  *
  */
 
@@ -352,19 +352,26 @@ PWMESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigne
 	} else {
 		// In hitl, publish actuator_outputs_sim
 		// Only publish once we receive actuator_controls (important for lock-step to work correctly)
-		actuator_outputs_s actuator_outputs_sim{};
+
 
 		if (num_control_groups_updated > 0) {
+			actuator_outputs_s actuator_outputs_sim{};
+			actuator_outputs_sim.noutputs = num_outputs;
+
+			const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
+
 			for (int i = 0; i < (int)num_outputs; i++) {
 				uint16_t disarmed = _mixing_output.disarmedValue(i);
 				uint16_t min = _mixing_output.minValue(i);
 				uint16_t max = _mixing_output.maxValue(i);
 
 				OutputFunction function = _mixing_output.outputFunction(i);
+				bool is_reversible = reversible_outputs & (1u << i);
 				float output = outputs[i];
 
-				if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax)) {
-					// Scale motors to [0, 1]
+				if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax
+				     && !is_reversible)) {
+					// Scale non-reversible motors to [0, 1]
 					actuator_outputs_sim.output[i] = (output - disarmed) / (max - disarmed);
 
 				} else {
@@ -633,7 +640,7 @@ int PWMESC::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-Driver for PWM outputs.
+Driver for PWM outputs. Used also in HITL mode.
 
 )DESCR_STR");
 

diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp
@@ -44,11 +44,7 @@
 
 #include "mixer_module.hpp"
 
-#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
 #define PARAM_PREFIX "PWM_MAIN"
-#else
-#define PARAM_PREFIX "HIL_ACT"
-#endif
 
 static constexpr int max_num_outputs = 8;
 

diff --git a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
@@ -79,8 +79,16 @@ class MavlinkStreamHILActuatorControls : public MavlinkStream, ModuleParams
 
 		for (int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; ++i) {
 			char param_name[17];
-			snprintf(param_name, sizeof(param_name), "%s_%s%d", "HIL_ACT", "FUNC", i + 1);
-			param_get(param_find(param_name), &_output_functions[i]);
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", "PWM_MAIN", "FUNC", i + 1);
+			param_t param_handle = param_find(param_name);
+
+			if (param_handle == PARAM_INVALID) {
+				_output_functions[i] = 0;
+				continue;
+
+			} else {
+				param_get(param_handle, &_output_functions[i]);
+			}
 		}
 	}
 

diff --git a/src/modules/simulation/pwm_out_sim/CMakeLists.txt b/src/modules/simulation/pwm_out_sim/CMakeLists.txt
@@ -31,19 +31,13 @@
 #
 ############################################################################
 
-if(${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL} STREQUAL "px4_sitl")
-	set(module_config "module_sim.yaml")
-else()
-	set(module_config "module_hil.yaml")
-endif()
-
 px4_add_module(
 	MODULE modules__simulation__pwm_out_sim
 	MAIN pwm_out_sim
 	SRCS
 		PWMSim.cpp
 	MODULE_CONFIG
-		${module_config}
+		module.yaml
 	DEPENDS
 		mixer_module
 	)