inno_vtol_dynamics repository

Repository Summary

Checkout URI https://github.com/InnopolisAero/inno_vtol_dynamics.git
VCS Type git
VCS Version main
Last Updated 2022-10-14
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
innopolis_vtol_dynamics 0.0.0

README

inno_vtol_dynamics

This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.

VTOL plane

Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab UAVCAN sensors and actuators (so it's a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).

This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.

Innopolis VTOL plane dynamics structure

The package is used inside a new UAVCAN-HITL .

The node from this package communicates with the flight stack via communicator UAV dynamics by subscribing and publishing to the following topics:

Subscribed topics msg
1 /uav/actuators sensor_msgs/Joy
2 /uav/arm std_msgs::Bool

Minimal sensors publishers list of topics:

Advertised topics msg
1 /uav/static_temperature uavcan_msgs/StaticTemperature
2 /uav/static_pressure uavcan_msgs/StaticPressure
3 /uav/raw_air_data uavcan_msgs/RawAirData
4 /uav/gps_position uavcan_msgs/Fix
5 /uav/imu sensor_msgs/Imu
6 /uav/mag sensor_msgs/MagneticField

Extended sensors publishers list of topics:

Advertised topics msg
7 /uav/esc_status uavcan_msgs/EscStatus
8 /uav/ice_status uavcan_msgs/IceReciprocatingStatus
9 /uav/fuel_tank_status uavcan_msgs/IceFuelTankStatus
10 /uav/battery_status sensor_msgs/BatteryState

Here topics 1-6 are necessary for any simulation. The last 4 topics are auxiliary and you may enable/disable them in the sim_params.yaml config file. You may implement your own sensors in the sensors.cpp file.

To work in pair with InnoSimulator as physics engine via inno_sim_interface it publishes and subscribes on following topics.

Advertised topics msg
1 /uav/actuators sensor_msgs/Joy
2 /uav/gps_position uavcan_msgs/Fix
3 /uav/attitude geometry_msgs/QuaternionStamped

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/InnopolisAero/inno_vtol_dynamics.git
VCS Type git
VCS Version main
Last Updated 2022-10-14
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
innopolis_vtol_dynamics 0.0.0

README

inno_vtol_dynamics

This package is the core of the UAV HITL dynamics simulator. It has an implementation of custom quadcopter vertical takeoff and landing aircraft dynamics.

VTOL plane

Innopolis VTOL has UAVCAN onboard electronics based on RaccoonLab UAVCAN sensors and actuators (so it's a good example of full UAVCAN-based onboard control and object for new UAVCAN-HITL simulation approach).

This package contains Innopolis VTOL simulation based on rigid body kinematics and dynamics, CFD analysis and actuators simulation.

Innopolis VTOL plane dynamics structure

The package is used inside a new UAVCAN-HITL .

The node from this package communicates with the flight stack via communicator UAV dynamics by subscribing and publishing to the following topics:

Subscribed topics msg
1 /uav/actuators sensor_msgs/Joy
2 /uav/arm std_msgs::Bool

Minimal sensors publishers list of topics:

Advertised topics msg
1 /uav/static_temperature uavcan_msgs/StaticTemperature
2 /uav/static_pressure uavcan_msgs/StaticPressure
3 /uav/raw_air_data uavcan_msgs/RawAirData
4 /uav/gps_position uavcan_msgs/Fix
5 /uav/imu sensor_msgs/Imu
6 /uav/mag sensor_msgs/MagneticField

Extended sensors publishers list of topics:

Advertised topics msg
7 /uav/esc_status uavcan_msgs/EscStatus
8 /uav/ice_status uavcan_msgs/IceReciprocatingStatus
9 /uav/fuel_tank_status uavcan_msgs/IceFuelTankStatus
10 /uav/battery_status sensor_msgs/BatteryState

Here topics 1-6 are necessary for any simulation. The last 4 topics are auxiliary and you may enable/disable them in the sim_params.yaml config file. You may implement your own sensors in the sensors.cpp file.

To work in pair with InnoSimulator as physics engine via inno_sim_interface it publishes and subscribes on following topics.

Advertised topics msg
1 /uav/actuators sensor_msgs/Joy
2 /uav/gps_position uavcan_msgs/Fix
3 /uav/attitude geometry_msgs/QuaternionStamped

CONTRIBUTING

No CONTRIBUTING.md found.