Spacecraft Build and Bare Control Allocator

[Pedro-Roque]

Solved Problem

Provides support for spacecraft-like vehicles available in https://github.com/DISCOWER/PX4-Space-Systems . This PR introduces spacecraft board for SITL, as well as a barebones allocator for preliminary spacecraft build targets.

Solution

• Add spacecraft SITL board
• Add barebones spacecraft control allocator

Changelog Entry

For release notes:

Feature/Bugfix: Support for spacecraft vehicles
New parameter:
Documentation: 

Test coverage

• Unit/integration test: on next PR
• Simulation/hardware testing logs: on next PR

[github-actions]

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 0 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +56  [ = ]       0    .debug_abbrev
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
-0.0%      -8  [ = ]       0    .debug_aranges
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
-0.0%      -4  [ = ]       0    .debug_info
  -0.2%      -4  [ = ]       0    ../../src/lib/version/version.c
-0.0%     -28  [ = ]       0    .debug_line
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
  -0.3%      -3  [ = ]       0    task/task_cancelpt.c
-0.0%      -8  [ = ]       0    .debug_ranges
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
+0.0%      +8  [ = ]       0    TOTAL

px4_fmu-v6x [Total VM Diff: 0 byte (0 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%     +56  [ = ]       0    .debug_abbrev
   +11%     +56  [ = ]       0    ../../src/lib/version/version.c
-0.0%      -8  [ = ]       0    .debug_aranges
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
-0.0%      -4  [ = ]       0    .debug_info
  -0.2%      -4  [ = ]       0    ../../src/lib/version/version.c
-0.0%     -28  [ = ]       0    .debug_line
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
  -0.3%      -3  [ = ]       0    task/task_cancelpt.c
-0.0%      -8  [ = ]       0    .debug_ranges
  -2.6%      -8  [ = ]       0    ../../src/lib/version/version.c
+0.0%      +8  [ = ]       0    TOTAL

Updated: 2025-01-20T15:02:50

[Pedro-Roque]

@dagar @sfuhrer Inputs are welcome on this - Should I start by adding build target followed by the control modules, or should I go the other way around?

[sfuhrer]

@dagar @sfuhrer Inputs are welcome on this - Should I start by adding build target followed by the control modules, or should I go the other way around?

You mean what to work on next? Should we clean up the build target / airframe side, then add SITL, then the low level control module (rate, possibly attitude)?
You'll also need to rebase since #24199 caused diffs. How do you plan to enable the metric allocation, hard-coded per vehicle type or configurable per parameter(s)?

[Jaeyoung-Lim]

Local configurations propagating into the repo I presume?

[Pedro-Roque]

A classic... We have .vscode/settings in the tracked files, how do you solve this locally? Should it be tracked?

[Pedro-Roque]

@dagar @sfuhrer Inputs are welcome on this - Should I start by adding build target followed by the control modules, or should I go the other way around?

You mean what to work on next? Should we clean up the build target / airframe side, then add SITL, then the low level control module (rate, possibly attitude)? You'll also need to rebase since #24199 caused diffs. How do you plan to enable the metric allocation, hard-coded per vehicle type or configurable per parameter(s)?

Thanks for the prompt reply @sfuhrer ! Ok great, I was planning on proceeding exactly in that order, so its a perfect since. Currently I've added a build target with airframe and SITL, as well as a control allocator (just so that I could have the build target configure the sc_apps and sc_defaults.

Let me know if I should remove control allocator and just proceed with airframe. The issue is that none of the apps are then loaded, but that could go together with ca_allocator. What do you think?

[Jaeyoung-Lim]

These should be removed given that we have the ControlAllocation being able to do metric allocation now?