CAELUS Digital Twin

This repo consists of all components for the Digital Twin architecture (CAELUS).

Installation

The installation script install_all.sh will take care of installing all dependencies. Issue sh install_all.sh to install every dependency.

WARNING: After any change to a dependency you must re-install that dependency (for simplicityt, re-run sh install_all.sh).

GIT Workflow

This repository uses the git-subrepo package to track multiple repos. Editing a subrepo (all folders in Dependencies) and pushing it to the upstream will result in the code for that subrepo's repo to be updated.

The used subrepos are the following:

• CAELUS_SmartSkies
• CAELUS_ProbeSystem
• CAELUS_ThermalModel
• CAELUS_PowerModels

Pulling new changes

To pull all changes from all the dependencies & the main repo, issue git subrepo pull --all. One can additionally pull from a single subrepo with the command git subrepo pull Dependencies/<subrepo_name>

Pushing New Changes

To push all changes from all the dependencies & the main repo, issue git subrepo push --all. One can additionally push from a single subrepo with the command git subrepo push Dependencies/<subrepo_name>

Development

It is required to authenticate with ANRA using Postman and the supplied authentication collection and add this token to your mission payload if payloads are not generated by Smartskies

Writing startup scripts

Drone configurations

Drone configurations are stored in the available_drones folder. By default the supported vehicle types are QUADCOPTER and EVTOL_FW (This value is used across the simulation stack to determine the vehicle type).

Adding a new drone

To add a new drone configuration:

1. Add a .json file in the available_drones folder with the example specified below:

{
    "id": "evtol_fw_large",
    "name": "EVTOL FW Large",
    "px4_airframe_reference": "custom_evtolfw_large",
    "type": "EVTOL_FW",
    "px4_airframe_parameters": {
        "FW_THR_CRUISE": 0.54
    },
    "aerodynamics": {
        "wing_span": 2.1,
        "wing_area": 0.8,
        "mean_aerodynamic_chord": 0.357,
        "m_CL_0": 0.0477,
        "m_CL_alpha": 4.06,
        "m_CL_delta_e": 0.7,
        "m_CL_q": 3.87,
        "m_CD_0": 0.0107,
        "m_CD_alpha": -0.00955,
        "m_CD_alpha2": 1.1,
        "m_CD_delta_e2": 0.0196,
        "m_CD_beta2": 0,
        "m_CD_beta": 0.115,
        "m_CD_q": 0,
        "m_CS_0": 0,
        "m_CS_beta": -0.194,
        "m_CS_delta_a": 0.0439,
        "m_CS_delta_r": 0,
        "m_CS_p": -0.137,
        "m_CS_r": 0.0839,
        "m_Cm_0": 0.00439,
        "m_Cm_alpha": -0.227,
        "m_Cm_delta_e": -0.325,
        "m_Cm_q": -1.3,
        "m_Cl_0": 0,
        "m_Cl_beta": -0.0751,
        "m_Cl_delta_a": 0.202,
        "m_Cl_delta_r": 0,
        "m_Cl_p": -0.404,
        "m_Cl_r": 0.0555,
        "m_Cn_0": 0,
        "m_Cn_beta": 0.0312,
        "m_Cn_delta_a": -0.00628,
        "m_Cn_delta_r": 0,
        "m_Cn_p": 0.00437,
        "m_Cn_r": -0.012
    },
    "drone_config": {
        "mass": 2.0,
        "arm_length": 0.25,
        "max_rpm": 13000,
        "max_torque": 0.10,
        "propeller_specs": {
            "diameter_cm": 18.0,
            "pitch_cm": 13.0,
            "blades_n": 3
        },
        "drag_move": 0.028,
        "Ixx": 0.335,
        "Iyy": 0.14,
        "Izz": 0.4,
        "Ixz": -0.029,
        "Izx": -0.029
    }
}

NOTE: "px4_airframe_parameters" contains non-standard parameters for the new airframe. Dependeing on the drone type there are some defaults specified in the PX4 fork airframe files 4200_custom_quad and 4201_custom_evtol.

2. Run the sync_custom_px4_vehicles.py script: python3 sync_custom_px4_vehicles.py

The new configuration will now be available in the digital twin. See Writing startup scripts for the appropriate parameter to use.

Tooling