featt: moved everything to sc

CMakeLists.txt

@@ -488,6 +488,15 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
 	include(finalize)
 endif()
 
+# Clear target folder
+set(INSTALL_DIR "${CMAKE_INSTALL_PREFIX}")
+file(GLOB RESULT_BUILD ${INSTALL_DIR})
+list(LENGTH RESULT_BUILD BUILD_RES_LEN)
+if(BUILD_RES_LEN GREATER 0)
+	message("Deleting target folder: ${INSTALL_DIR}")
+	file(REMOVE_RECURSE ${INSTALL_DIR})
+endif()
+
 # Install SITL build files
 file(GLOB RESULT build/*)
 list(LENGTH RESULT RES_LEN)
@@ -496,9 +505,9 @@ if(RES_LEN GREATER 0)
   DESTINATION share/${PROJECT_NAME}
   PATTERN ".svn" EXCLUDE)
   # Install ROMFS
-#  install(DIRECTORY ROMFS/
-#   DESTINATION share/${PROJECT_NAME}
-#   PATTERN ".svn" EXCLUDE)
+ install(DIRECTORY ROMFS/
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN ".svn" EXCLUDE)
 else()
 	 message(STATUS "No PX4 build files to install.")
 endif()

ROMFS/px4fmu_common/init.d-posix/airframes/9000_gazebo-classic_2d_spacecraft

@@ -7,7 +7,7 @@
 # @maintainer Pedro Roque <[email protected]>
 #
 
-. ${R}etc/init.d/rc.sc_apps
+. ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 13
 

ROMFS/px4fmu_common/init.d-posix/airframes/9001_gazebo-classic_3d_spacecraft

@@ -7,7 +7,7 @@
 # @maintainer Pedro Roque <[email protected]>
 #
 
-. ${R}etc/init.d/rc.sc_apps
+. ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 13
 

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

@@ -81,7 +81,8 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 
-	9000_gazebo-classic_spacecraft
+	9000_gazebo-classic_2d_spacecraft
+	9001_gazebo-classic_3d_spacecraft
 
 	10015_gazebo-classic_iris
 	10016_none_iris

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -224,6 +224,7 @@ done
 
 if [ -e "$autostart_file" ]
 then
+	echo "INFO  [init] using autostart file: $autostart_file"
 	. "$autostart_file"
 
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]

ROMFS/px4fmu_common/init.d/airframes/70000_kth_space_robot

@@ -10,32 +10,74 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
-# param set-default CA_AIRFRAME 7
-# param set-default CA_ROTOR_COUNT 8
+param set-default CA_AIRFRAME 13
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_KM 0.1697
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_KM 0.1697
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_KM 0.1697
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_KM 0.1697
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_KM 0.1697
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_KM 0.1697
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_KM 0.1697
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_KM 0.1697
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
 
-# param set-default CA_ROTOR0_PX -0.12
-# param set-default CA_ROTOR0_PY -0.12
-
-# param set-default CA_ROTOR1_PX 0.12
-# param set-default CA_ROTOR1_PY -0.12
-
-# param set-default CA_ROTOR2_PX -0.12
-# param set-default CA_ROTOR2_PY 0.12
-
-# param set-default CA_ROTOR3_PX 0.12
-# param set-default CA_ROTOR3_PY 0.12
-
-# param set-default CA_ROTOR4_PX -0.12
-# param set-default CA_ROTOR4_PY 0.12
-
-# param set-default CA_ROTOR5_PX -0.12
-# param set-default CA_ROTOR5_PY -0.12
-
-# param set-default CA_ROTOR6_PX 0.12
-# param set-default CA_ROTOR6_PY 0.12
-
-# param set-default CA_ROTOR7_PX 0.12
-# param set-default CA_ROTOR7_PY -0.12
 
 param set-default PWM_AUX_TIM0 10
 param set-default PWM_AUX_TIM1 10

ROMFS/px4fmu_common/init.d/rc.sc_apps

@@ -9,17 +9,18 @@
 ekf2 start &
 
 # Start MicroDDS Client
-uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
+# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
+# uxrce_dds_client start -t udp -p 8888
 
 #
 # Start Control Allocator
 #
-# control_allocator start
+control_allocator start
 
 #
 # Start Multicopter Rate Controller.
 #
-# sc_rate_control start
+sc_rate_control start
 
 # Start Space Robot Thruster Controller
 sc_thruster_controller start

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake

@@ -86,7 +86,8 @@ if(gazebo_FOUND)
 		iris_rplidar
 		iris_vision
 		omnicopter
-		spacecraft
+		2d_spacecraft
+		3d_spacecraft
 		plane
 		plane_cam
 		plane_catapult