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feat: BlueROV2 Heavy updated control (attitude and position) and model (#25052)

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* rft: clean merge to PX4

* fix: formatting

* fix: extra line

* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle

* feat: updated gazebo models to include bluerov update

* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build

* fix: added saturation to thrust and torque messages via param

* doc: updated parameters documentation for uuv

* fix: formatting

* feat: matching hardware reference

* fix: thrusters kg

* rft: removed commented lines

* fix: update gz reference given hw setup

* fix: hardware references

* fix: recommendations

* fix: updated settings to match hardware

* rft: check only for fixed and rotary wing for high throttle

Co-authored-by: Daniel Agar <daniel@agar.ca>

* fix: commit oupsie

* fix: format

* rft: remove is_uuv

* fix: hw parameters, uuv build target for v6x

* feat: added support for D-pad attitude changes in stabilized position control

* fix: position setpoint update and parametrized trajectory age and att change

* fix: format

* fix: removed duplicated call to check_validity_setpoint

* fix: setpoint update on arming logic

* fix: setpoint initialization for stabilized mode

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Pedro Roque
2025-07-23 19:29:22 +02:00
committed by GitHub
parent 09fe34af0e
commit e14eea5615
23 changed files with 2891 additions and 201 deletions
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23
boards/px4/fmu-v6x/uuv.px4board Normal file
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CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_MC_ATT_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_MODULES_ROVER_ACKERMANN=n
CONFIG_MODULES_ROVER_DIFFERENTIAL=n
CONFIG_MODULES_ROVER_MECANUM=n
CONFIG_MODULES_SPACECRAFT=n
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y