FlightGear simulator support (#14539)

- Add flightgear_bridge submodule.
- Add traget px4_sitl_nolockstep with disabled  LOCKSTEP simulation.
- Add flightgear viewer targets and startup scripts
- Add a few possible vehicles plane (rascal), autogyro (tf-g1), and rover (tf-r1))

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>

.gitmodules

@@ -45,3 +45,6 @@
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
+[submodule "Tools/flightgear_bridge"]
+	path = Tools/flightgear_bridge
+	url = https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge.git

ROMFS/px4fmu_common/init.d-posix/1033_rascal

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1034_rascal-electric

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1061_tf-r1

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-R1 UAV Rover
+# @type Rover
+# @class Rover
+#
+# @url https://github.com/ThunderFly-aerospace/TF-R1/
+# @maintainer ThunderFly s.r.o.
+#
+
+sh /etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/17001_tf-g1

@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G1
+# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G1/
+#
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0
+
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1
+
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3
+
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100
+
+	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1
+
+	param set FW_ARSP_SCALE_EN 0
+
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15
+
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30
+
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi
+
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/mixers-sitl/autogyro_sitl.main.mix

@@ -0,0 +1,37 @@
+Mixer for SITL autogyro.
+=========================================================
+
+# 0 mixer for the rudder (Rotor roll)
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 2   10000   10000    0 -10000  10000
+
+# 1 mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# 2 mixer for the aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 0 0  -10000  -10000    0 -10000  10000
+
+# 3 mixer for the elevator (Rotor pitch)
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 1   10000   10000    0 -10000  10000
+
+# 4 mixer for the prerotator AUX1
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 5   10000   10000    0 -10000  10000
+
+# 5 mixer for the manual elevator AUX2
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 6   10000   10000    0 -10000  10000
+
+# 6 mixer for the release device AUX3
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 7   10000   10000    0 -10000  10000

Tools/flightgear_bridge

@@ -0,0 +1 @@
+Subproject commit f7eb676108c41edea5b9424f29a74a517a1dfd48

Tools/sitl_run.sh

@@ -9,7 +9,7 @@ fi
 
 if [[ -n "$DONT_RUN" ]]; then
 	echo "Not running simulation (DONT_RUN is set)."
-    exit 0
+	exit 0
 fi
 
 sitl_bin="$1"
@@ -121,6 +121,12 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
+	echo "FG setup"
+	cd "${src_path}/Tools/flightgear_bridge/"
+	"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
+	"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
+	FG_BRIDGE_PID=`echo $!`
 fi
 
 pushd "$rootfs" >/dev/null
@@ -171,4 +177,7 @@ elif [ "$program" == "gazebo" ]; then
 	if [[ ! -n "$HEADLESS" ]]; then
 		kill -9 $GUI_PID
 	fi
+elif [ "$program" == "flightgear" ]; then
+	kill $FG_BRIDGE_PID
+	kill -9 `cat /tmp/px4fgfspid_0`
 fi

boards/px4/sitl/nolockstep.cmake

@@ -0,0 +1,91 @@
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR px4
+	MODEL sitl
+	LABEL nolockstep
+	TESTING
+	DRIVERS
+		#barometer # all available barometer drivers
+		#batt_smbus
+		camera_capture
+		camera_trigger
+		#differential_pressure # all available differential pressure drivers
+		#distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		#telemetry # all available telemetry drivers
+		tone_alarm
+		#uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		#load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		replay
+		rover_pos_control
+		sensors
+		#sih
+		simulator
+		temperature_compensation
+		vmount
+		vtol_att_control
+		uuv_att_control
+
+	SYSTEMCMDS
+		#config
+		#dumpfile
+		dyn
+		esc_calib
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		#top
+		topic_listener
+		tune_control
+		ver
+		work_queue
+	EXAMPLES
+		dyn_hello # dynamically loading modules example
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+	)
+
+message(STATUS "Building without lockstep")
+set(ENABLE_LOCKSTEP_SCHEDULER no)
+

platforms/posix/cmake/sitl_target.cmake

@@ -25,6 +25,7 @@ add_custom_target(run_config
 
 px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
 px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge")
 
 # Add support for external project building
 include(ExternalProject)
@@ -57,6 +58,20 @@ ExternalProject_Add(mavsdk_tests
 	BUILD_ALWAYS 1
 )
 
+ExternalProject_Add(flightgear_bridge
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge
+	CMAKE_ARGS
+		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
+	INSTALL_COMMAND ""
+	DEPENDS
+		git_flightgear_bridge
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+)
+
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
@@ -146,6 +161,38 @@ foreach(viewer ${viewers})
 	endforeach()
 endforeach()
 
+#add flighgear targets
+if( ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
+	set(models
+		rascal
+		rascal-electric
+		tf-g1
+		tf-r1
+		)
+	set(all_posix_vmd_make_targets)
+
+	foreach(model ${models})
+		set(_targ_name "flightgear_${model}")
+		add_custom_target(${_targ_name}
+			COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+				$<TARGET_FILE:px4>
+				none
+				flightgear
+				${model}
+				none
+				${PX4_SOURCE_DIR}
+				${PX4_BINARY_DIR}
+			WORKING_DIRECTORY ${SITL_WORKING_DIR}
+			USES_TERMINAL
+			DEPENDS
+				logs_symlink
+			)
+
+		add_dependencies(${_targ_name} px4 flightgear_bridge)
+		list(APPEND all_posix_vmd_make_targets ${_targ_name})
+	endforeach()
+endif()
+
 string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
 
 add_custom_target(list_vmd_make_targets