ponomarevda/inno_vtol_dynamics

Core of Innopolis VTOL dynamics simulation for innopolis_vtol_dynamics simulator

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.

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.

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
3	/uav/calibration	std_msgs::UInt8
4	/uav/scenario	std_msgs::UInt8

Minimal sensors publishers list of topics:

№	Advertised topics	msg
1	/uav/static_temperature	std_msgs/Float32
2	/uav/static_pressure	std_msgs/Float32
3	/uav/raw_air_data	std_msgs/Float32
4	/uav/gps_point	sensor_msgs/NavSatFix
5	/uav/velocity	geometry_msgs/Twist
6	/uav/imu	sensor_msgs/Imu
7	/uav/mag	sensor_msgs/MagneticField

Extended sensors publishers list of topics:

№	Advertised topics	msg
7	/uav/esc_status	mavros_msgs::ESCTelemetryItem
8	/uav/ice_rpm	mavros_msgs::ESCStatusItem
9	/uav/ice_status	std_msgs::UInt8
10	/uav/fuel_tank_status	std_msgs/UInt8
11	/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_point	sensor_msgs/NavSatFix
3	/uav/velocity	geometry_msgs/Twist
4	/uav/attitude	geometry_msgs/QuaternionStamped