Adapted acceptance radius for rovers, and added vehicle_type field

ROMFS/px4fmu_common/init.d-posix/1060_rover

@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -229,7 +229,7 @@ fi
 
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
 sh etc/init.d/rc.vehicle_setup
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -43,8 +43,8 @@ px4_add_romfs_files(
 	rcS
 	rc.sensors
 	rc.thermal_cal
-	rc.ugv_apps
-	rc.ugv_defaults
+	rc.rover_apps
+	rc.rover_defaults
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -13,7 +13,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -54,10 +54,10 @@ then
 	param set PWM_MIN 1000
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer
-set MIXER ugv_generic
+set MIXER rover_generic
 
 set PWM_MAIN_REV2 1

ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10

@@ -17,7 +17,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 #
 # This section can be enabled once tuning parameters for this particular

ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd

@@ -15,7 +15,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-sh /etc/init.d/rc.ugv_defaults
+sh /etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
@@ -56,7 +56,7 @@ then
 	param set PWM_MIN 1000
 fi
 
-# Configure this as ugv
+# Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer

ROMFS/px4fmu_common/init.d/rc.ugv_apps → ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -23,4 +23,4 @@ gnd_pos_control start
 #
 # Start Land Detector.
 #
-land_detector start ugv
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.ugv_defaults → ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE ugv
+set VEHICLE_TYPE rover
 
 if [ $AUTOCNF = yes ]
 then

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -87,12 +87,12 @@ fi
 #
 # UGV setup.
 #
-if [ $VEHICLE_TYPE = ugv ]
+if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
 		# Set default mixer for UGV if not defined.
-		set MIXER ugv_generic
+		set MIXER rover_generic
 	fi
 
 	if [ $MAV_TYPE = none ]
@@ -108,7 +108,7 @@ then
 	sh /etc/init.d/rc.interface
 
 	# Start standard UGV apps.
-	sh /etc/init.d/rc.ugv_apps
+	sh /etc/init.d/rc.rover_apps
 fi
 
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -421,7 +421,7 @@ else
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 	#
 	sh /etc/init.d/rc.vehicle_setup
 

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -78,7 +78,7 @@ px4_add_romfs_files(
 	stampede.main.mix
 	tri_y_yaw-.main.mix
 	tri_y_yaw+.main.mix
-	ugv_generic.main.mix
+	rover_generic.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix

ROMFS/px4fmu_test/mixers/CMakeLists.txt

@@ -44,7 +44,7 @@ px4_add_romfs_files(
 	quad_+.main.mix
 	quad_test.mix
 	quad_+_vtol.main.mix
-	ugv_generic.main.mix
+	rover_generic.main.mix
 	vtol1_test.mix
 	vtol2_test.mix
 	vtol_AAERT.aux.mix

msg/vehicle_status.msg

@@ -49,6 +49,11 @@ uint8 RC_IN_MODE_DEFAULT = 0
 uint8 RC_IN_MODE_OFF = 1
 uint8 RC_IN_MODE_GENERATED = 2
 
+uint8 VEHICLE_TYPE_UNKNOWN = 0
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3
+
 # state machine / state of vehicle.
 # Encodes the complete system state and is set by the commander app.
 
@@ -61,7 +66,9 @@ uint8 system_type			# system type, contains mavlink MAV_TYPE
 uint8 system_id			# system id, contains MAVLink's system ID field
 uint8 component_id			# subsystem / component id, contains MAVLink's component ID field
 
-bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
+uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
+                            # If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
+                            # and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
 
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -274,7 +274,8 @@ bool FlightTaskAuto::_evaluateTriplets()
 		_mission_gear = _sub_triplet_setpoint->get().current.landing_gear;
 	}
 
-	if (_param_com_obs_avoid.get() && _sub_vehicle_status->get().is_rotary_wing) {
+	if (_param_com_obs_avoid.get()
+	    && _sub_vehicle_status->get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		_obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
 				_triplet_next_wp,
 				_sub_triplet_setpoint->get().next.yaw,

src/modules/commander/Commander.cpp

@@ -431,7 +431,8 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "transition")) {
 
 		bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
-						(float)(status.is_rotary_wing ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
+						(float)(status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
+							vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
 							vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC));
 
 		return (ret ? 0 : 1);
@@ -1288,7 +1289,20 @@ Commander::run()
 	int32_t system_type;
 	param_get(_param_sys_type, &system_type); // get system type
 	status.system_type = (uint8_t)system_type;
-	status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
+
+	if (is_rotary_wing(&status) || is_vtol(&status)) {
+		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+
+	} else if (is_fixed_wing(&status)) {
+		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+
+	} else if (is_ground_rover(&status)) {
+		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
+
+	} else {
+		status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
+	}
+
 	status.is_vtol = is_vtol(&status);
 
 	commander_boot_timestamp = hrt_absolute_time();
@@ -1393,12 +1407,19 @@ Commander::run()
 					status.system_type = (uint8_t)system_type;
 				}
 
+				const bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
+				const bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
+				const bool is_ground = is_ground_rover(&status);
+
 				/* disable manual override for all systems that rely on electronic stabilization */
-				if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
-					status.is_rotary_wing = true;
+				if (is_rotary) {
+					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
-				} else {
-					status.is_rotary_wing = false;
+				} else if (is_fixed) {
+					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+
+				} else if (is_ground) {
+					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
 				}
 
 				/* set vehicle_status.is_vtol flag */
@@ -1607,8 +1628,14 @@ Commander::run()
 			if (is_vtol(&status)) {
 
 				// Check if there has been any change while updating the flags
-				if (status.is_rotary_wing != vtol_status.vtol_in_rw_mode) {
-					status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
+				const auto new_vehicle_type = vtol_status.vtol_in_rw_mode ?
+							      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
+							      vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+
+				if (new_vehicle_type != status.vehicle_type) {
+					status.vehicle_type = vtol_status.vtol_in_rw_mode ?
+							      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
+							      vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 					status_changed = true;
 				}
 
@@ -1627,8 +1654,10 @@ Commander::run()
 					status_changed = true;
 				}
 
-				if (armed.soft_stop != !status.is_rotary_wing) {
-					armed.soft_stop = !status.is_rotary_wing;
+				const bool should_soft_stop = (status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
+
+				if (armed.soft_stop != should_soft_stop) {
+					armed.soft_stop = should_soft_stop;
 					status_changed = true;
 				}
 			}
@@ -1975,7 +2004,7 @@ Commander::run()
 
 			if (in_armed_state &&
 			    status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
-			    (status.is_rotary_wing || (!status.is_rotary_wing && land_detector.landed)) &&
+			    (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || land_detector.landed) &&
 			    (stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) {
 
 				if (internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
@@ -2123,7 +2152,7 @@ Commander::run()
 			 * only for fixed wing for now
 			 */
 			if (!status_flags.circuit_breaker_engaged_enginefailure_check &&
-			    !status.is_rotary_wing && !status.is_vtol && armed.armed) {
+			    status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !status.is_vtol && armed.armed) {
 
 				actuator_controls_s actuator_controls = {};
 				actuator_controls_sub.copy(&actuator_controls);
@@ -2910,10 +2939,10 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 				/* manual mode is stabilized already for multirotors, so switch to acro
 				 * for any non-manual mode
 				 */
-				if (status.is_rotary_wing && !status.is_vtol) {
+				if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !status.is_vtol) {
 					res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, status_flags, &internal_state);
 
-				} else if (!status.is_rotary_wing) {
+				} else if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 					res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);
 
 				} else {
@@ -2923,7 +2952,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 			} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				/* Similar to acro transitions for multirotors.  FW aircraft don't need a
 				 * rattitude mode.*/
-				if (status.is_rotary_wing) {
+				if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 					res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, status_flags, &internal_state);
 
 				} else {
@@ -3119,7 +3148,8 @@ set_control_mode()
 {
 	/* set vehicle_control_mode according to set_navigation_state */
 	control_mode.flag_armed = armed.armed;
-	control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
+	control_mode.flag_external_manual_override_ok = (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
+			&& !status.is_vtol);
 	control_mode.flag_control_offboard_enabled = false;
 
 	switch (status.nav_state) {
@@ -3350,10 +3380,11 @@ set_control_mode()
 bool
 stabilization_required()
 {
-	return (status.is_rotary_wing ||		// is a rotary wing, or
+	return (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||		// is a rotary wing, or
 		status.vtol_fw_permanent_stab || 	// is a VTOL in fixed wing mode and stabilisation is on, or
 		(vtol_status.vtol_in_trans_mode && 	// is currently a VTOL transitioning AND
-		 !status.is_rotary_wing));	// is a fixed wing, ie: transitioning back to rotary wing mode
+		 status.vehicle_type ==
+		 vehicle_status_s::VEHICLE_TYPE_FIXED_WING));	// is a fixed wing, ie: transitioning back to rotary wing mode
 }
 
 void
@@ -4020,9 +4051,11 @@ void Commander::airspeed_use_check()
 	_sensor_bias_sub.update();
 	const sensor_bias_s &sensors = _sensor_bias_sub.get();
 
+	bool is_fixed_wing = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+
 	// assume airspeed sensor is good before starting FW flight
 	bool valid_flight_condition = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) &&
-				      !status.is_rotary_wing && !land_detector.landed;
+				      is_fixed_wing && !land_detector.landed;
 	bool fault_declared = false;
 	bool fault_cleared = false;
 	bool bad_number_fail = !PX4_ISFINITE(airspeed.indicated_airspeed_m_s) || !PX4_ISFINITE(airspeed.true_airspeed_m_s);
@@ -4318,7 +4351,7 @@ void Commander::estimator_check(bool *status_changed)
 		 * for a short time interval after takeoff. Fixed wing vehicles can recover using GPS heading,
 		 * but rotary wing vehicles cannot so the position and velocity validity needs to be latched
 		 * to false after failure to prevent flyaway crashes */
-		if (run_quality_checks && status.is_rotary_wing) {
+		if (run_quality_checks && status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 
 			if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
 				// reset flags and timer

src/modules/commander/PreflightCheck.cpp

@@ -727,7 +727,8 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 
 	/* Perform airspeed check only if circuit breaker is not
 	 * engaged and it's not a rotary wing */
-	if (!status_flags.circuit_breaker_engaged_airspd_check && (!status.is_rotary_wing || status.is_vtol)) {
+	if (!status_flags.circuit_breaker_engaged_airspd_check &&
+	    (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || status.is_vtol)) {
 		checkAirspeed = true;
 	}
 
@@ -960,7 +961,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 	// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
 	int32_t estimator_type = -1;
 
-	if (status.is_rotary_wing && !status.is_vtol) {
+	if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !status.is_vtol) {
 		param_get(param_find("SYS_MC_EST_GROUP"), &estimator_type);
 
 	} else {

src/modules/commander/commander_helper.cpp

@@ -67,9 +67,11 @@
 
 using namespace DriverFramework;
 
+#define VEHICLE_TYPE_FIXED_WING 1
 #define VEHICLE_TYPE_QUADROTOR 2
 #define VEHICLE_TYPE_COAXIAL 3
 #define VEHICLE_TYPE_HELICOPTER 4
+#define VEHICLE_TYPE_GROUND_ROVER 10
 #define VEHICLE_TYPE_HEXAROTOR 13
 #define VEHICLE_TYPE_OCTOROTOR 14
 #define VEHICLE_TYPE_TRICOPTER 15
@@ -108,6 +110,16 @@ bool is_vtol(const struct vehicle_status_s *current_status)
 		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED5);
 }
 
+bool is_fixed_wing(const struct vehicle_status_s *current_status)
+{
+	return current_status->system_type == VEHICLE_TYPE_FIXED_WING;
+}
+
+bool is_ground_rover(const struct vehicle_status_s *current_status)
+{
+	return current_status->system_type == VEHICLE_TYPE_GROUND_ROVER;
+}
+
 static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message
 static hrt_abstime tune_end = 0;		// end time of currently played tune, 0 for repeating tunes or silence
 static int tune_current = TONE_STOP_TUNE;		// currently playing tune, can be interrupted after tune_end