Motors direct control

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

@@ -36,4 +36,5 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.replay
 	rcS
+	rc.mc_simulation_ls2n
 )

ROMFS/px4fmu_common/init.d-posix/airframes/5011_crazy2fly

@@ -8,10 +8,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d-posix/rc.mc_simulation_ls2n
 
-param set PWM_MAIN_MAX 1000
-param set PWM_MAIN_MIN 0
-param set THR_MDL_FAC 1.0
 
 param set MC_ROLLRATE_K 1.8
 param set MC_ROLLRATE_D 0.002
@@ -28,13 +26,6 @@ param set MC_YAWRATE_D 0.002
 param set MC_YAWRATE_I 0.1
 param set MC_YAWRATE_P 0.2
 param set MC_YAW_P 5.0
-param set EKF2_AID_MASK 24
-param set EKF2_EVV_NOISE 0.01
-param set EKF2_EV_DELAY 10.0
-param set EKF2_EV_NOISE_MD 1
-param set EKF2_GPS_CHECK 0
-param set EKF2_HGT_MODE 3
-param set EKF2_REQ_GPS_H 10.0
 param set MC_PITCHRATE_MAX 1800.0
 param set MC_ROLLRATE_MAX 1800.0
 param set MC_YAWRATE_MAX 1800.0

ROMFS/px4fmu_common/init.d-posix/airframes/8011_crazyflie2

@@ -8,10 +8,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d-posix/rc.mc_simulation_ls2n
 
-param set PWM_MAIN_MAX 1000
-param set PWM_MAIN_MIN 0
-param set THR_MDL_FAC 1.0
 param set MC_ROLLRATE_K 1.0
 param set MC_ROLLRATE_D 0.00
 param set MC_ROLLRATE_I 0.1
@@ -27,14 +25,5 @@ param set MC_YAWRATE_D 0.000
 param set MC_YAWRATE_I 0.2
 param set MC_YAWRATE_P 0.2
 param set MC_YAW_P 0.5
-param set EKF2_AID_MASK 24
-param set EKF2_EVV_NOISE 0.01
-param set EKF2_EV_DELAY 10.0
-param set EKF2_EV_NOISE_MD 1
-param set EKF2_GPS_CHECK 0
-param set EKF2_HGT_MODE 3
-param set EKF2_REQ_GPS_H 10.0
-param set MC_PITCHRATE_MAX 1800.0
-param set MC_ROLLRATE_MAX 1800.0
-param set MC_YAWRATE_MAX 1800.0
+
 set MIXER quad_+

ROMFS/px4fmu_common/init.d-posix/rc.mc_simulation_ls2n

+#!/bin/sh
+#
+# LS2N simulation parameters
+#
+# shellcheck disable=SC2154
+
+param set PWM_MAIN_MAX 1000
+param set PWM_MAIN_MIN 0
+param set THR_MDL_FAC 1.0
+param set EKF2_AID_MASK 24
+param set EKF2_EVV_NOISE 0.01
+param set EKF2_EV_DELAY 10.0
+param set EKF2_EV_NOISE_MD 1
+param set EKF2_GPS_CHECK 0
+param set EKF2_HGT_MODE 3
+param set EKF2_REQ_GPS_H 10.0
+param set COM_OBL_ACT 4
+param set COM_OBL_RC_ACT 4
+param set COM_RC_IN_MODE 1
+param set NAV_RCL_ACT 4
+param set COM_RC_OVERRIDE 0

sitl_gazebo @ 7a1ab7d3

-Subproject commit 935da5e806569807553ed7d32ae61ac19d4fb409
+Subproject commit 7a1ab7d3c76194a1e31c98e9607047c8d3611e4b

boards/px4/sitl/rtps.cmake

@@ -115,5 +115,5 @@ if(REPLAY_FILE)
 	message(STATUS "Building without lockstep for replay")
 	set(ENABLE_LOCKSTEP_SCHEDULER no)
 else()
-	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
 endif()

msg/offboard_control_mode.msg

@@ -7,3 +7,4 @@ bool velocity
 bool acceleration
 bool attitude
 bool body_rate
+bool motors

msg/tools/uorb_rtps_message_ids.yaml

@@ -3,6 +3,7 @@ rtps:
     id: 0
   - msg: actuator_controls
     id: 1
+    send: true
   - msg: actuator_outputs
     id: 3
   - msg: adc_report
@@ -330,6 +331,8 @@ rtps:
   - msg: actuator_controls_0
     id: 170
     alias: actuator_controls
+    send: true
+    receive: true
   - msg: actuator_controls_1
     id: 171
     alias: actuator_controls

src/modules/commander/Commander.cpp

@@ -3903,12 +3903,13 @@ Commander::offboard_control_update()
 			    old.velocity != ocm.velocity ||
 			    old.acceleration != ocm.acceleration ||
 			    old.attitude != ocm.attitude ||
-			    old.body_rate != ocm.body_rate) {
+			    old.body_rate != ocm.body_rate ||
+			    old.motors != ocm.motors) {
 
 				_status_changed = true;
 			}
 
-			if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate) {
+			if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate || ocm.motors) {
 				offboard_available = true;
 			}
 		}