From 01c5b3934e8614b2f391578fc574eda55df29ea9 Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jalim@ethz.ch>
Date: Mon, 6 Feb 2023 22:24:01 +0100
Subject: [PATCH] Tune GZ plane (rc_cessna) to fly nicely (#21077)

* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
---
 ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna | 3 +++
 Tools/simulation/gz/models/rc_cessna/model.sdf               | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
index 6544835154..2e663b730c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@@ -54,6 +54,9 @@ param set-default RWTO_TKOFF 1
 
 param set-default CA_AIRFRAME 1
 
+param set-default COM_PREARM_MODE 2
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 
diff --git a/Tools/simulation/gz/models/rc_cessna/model.sdf b/Tools/simulation/gz/models/rc_cessna/model.sdf
index 5ea036f96c..3f302399cb 100644
--- a/Tools/simulation/gz/models/rc_cessna/model.sdf
+++ b/Tools/simulation/gz/models/rc_cessna/model.sdf
@@ -685,6 +685,7 @@
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>servo_0</joint_name>
       <sub_topic>servo_0</sub_topic>
+      <p_gain>10.0</p_gain>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
@@ -708,6 +709,7 @@
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>servo_1</joint_name>
       <sub_topic>servo_1</sub_topic>
+      <p_gain>10.0</p_gain>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
@@ -767,6 +769,7 @@
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>servo_2</joint_name>
       <sub_topic>servo_2</sub_topic>
+      <p_gain>10.0</p_gain>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.0</a0>
@@ -789,6 +792,8 @@
     <plugin
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
       <joint_name>rudder_joint</joint_name>
+      <sub_topic>servo_3</sub_topic>
+      <p_gain>10.0</p_gain>
     </plugin>
     <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_puller_joint</jointName>