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support fixed-wings in new Gazebo(gz or ignition gazebo) #20939

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merged 10 commits into from
Jan 24, 2023
Merged

support fixed-wings in new Gazebo(gz or ignition gazebo) #20939

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6732938
Add gz plane airframe config
Jaeyoung-Lim Jan 14, 2023
cb86727
Bring over gz vehicles and fix warns.
Jaeyoung-Lim Jan 14, 2023
6de81a0
Adapt airframe
Jaeyoung-Lim Jan 14, 2023
f7a7593
Set functions
Jaeyoung-Lim Jan 14, 2023
4dc6ecc
change motor numbering
Jaeyoung-Lim Jan 15, 2023
a62f96e
Fix rotor axis
Jaeyoung-Lim Jan 15, 2023
0c77421
Use gazebo garden
Jaeyoung-Lim Jan 15, 2023
457c870
Add joint controller plugins
Jaeyoung-Lim Jan 15, 2023
de54581
Set joint angles through ign transport
Jaeyoung-Lim Jan 15, 2023
7440a5c
Merge remote-tracking branch 'px4/main' into pr-gz-plane
dagar Jan 23, 2023
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81 changes: 81 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane
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@@ -0,0 +1,81 @@
#!/bin/sh
#
# @name Gazebo plane
# @type Fixedwing
#

. ${R}etc/init.d/rc.fw_defaults

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=plane}

param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0

param set-default FW_LND_ANG 8

param set-default FW_L1_PERIOD 12

param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15

param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15

param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5

param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5

param set-default FW_SPOILERS_LND 0.4

param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_TRIM 0.25

param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2

param set-default FW_W_EN 1

param set-default MIS_TAKEOFF_ALT 30

param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2

param set-default RWTO_TKOFF 1

param set-default CA_AIRFRAME 1

param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3

param set-default CA_SV_CS_COUNT 6
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10

param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MAX1 1000

param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_FUNC5 205
param set-default SIM_GZ_SV_FUNC6 206
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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Expand Up @@ -72,6 +72,7 @@ px4_add_romfs_files(

4001_gz_x500
4002_gz_x500_depth
4003_gz_plane

6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
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4,173 changes: 4,173 additions & 0 deletions Tools/simulation/gz/models/plane/meshes/body.dae
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165 changes: 165 additions & 0 deletions Tools/simulation/gz/models/plane/meshes/elevators.dae
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160 changes: 160 additions & 0 deletions Tools/simulation/gz/models/plane/meshes/iris_prop_ccw.dae
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160 changes: 160 additions & 0 deletions Tools/simulation/gz/models/plane/meshes/iris_prop_cw.dae
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