Hi there, I am a researcher that wants to apply PX4 on a boat equipped with vectored thrusters (thrusters with servo unit to produce thurst in any 2D orientation) to make the boat fully/over - actuated in the XY plane.
I have see that nowadays with the new dynamic allocation it is somehow possible but i wanted to be sure and to have feedback from the community / devs on the feasibility of this. That would help me a lot, thank you !
Best regards !
PX4:main ← PX4:pr-rover-ratesp
opened 01:49PM - 21 Aug 22 UTC
## Describe problem solved by this pull request
Previously USVs(boats) did not … work in mission mode due to the lack of low level control in the rover position control. Due to the low yaw damping on water the boat model would just oscillate on the yaw axis without meaningful navigation.
## Describe your solution
This PR adds a rate control loop on the rover position control module and enables way point navigation for boats.
- Added rate control of a rover using the common rate control library
- Added support for Acro mode for rovers (includes https://github.com/PX4/PX4-Autopilot/pull/18317)
- Had to make commander consider boats as a rover vehicle type for waypoint acceptance (Fixes https://github.com/PX4/PX4-Autopilot/issues/19045)
- This PR needs a modification of the gazebo model for Improved control authority and directional stability of the gazebo boat model https://github.com/PX4/PX4-SITL_gazebo/pull/895
## Test data / coverage
### After PR
Tested in SITL and demonstrated successfully of following a survey pattern
```
make px4_sitl gazebo_boat
```
- Flight log: [Log](https://review.px4.io/plot_app?log=c14bff87-6756-438c-9362-1f42c19e1d2d)
### Before PR
- Flight log: [Log](https://review.px4.io/plot_app?log=5c69e211-0a61-4abd-a6b9-20707fa7b193)
## Additional context
- This is a extended PR of https://github.com/PX4/PX4-Autopilot/pull/18317
- @junwoo091400 This should be useful for https://github.com/PX4/PX4-Autopilot/pull/19957
- Fixes https://github.com/PX4/PX4-Autopilot/issues/19045
- Depends on https://github.com/PX4/PX4-SITL_gazebo/pull/895
not sure if this helps, but I have seen this ticket open
