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Tune GZ plane (rc_cessna) to fly nicely (#21077)

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* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
This commit is contained in:
JaeyoungLim
2023-02-06 16:24:01 -05:00
committed by GitHub
parent 661eb2adb4
commit 01c5b3934e
2 changed files with 8 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+3
View File
@@ -54,6 +54,9 @@ param set-default RWTO_TKOFF 1
param set-default CA_AIRFRAME 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_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3 param set-default CA_ROTOR0_PX 0.3
Tools/simulation/gz/models/rc_cessna/model.sdf
+5
View File
@@ -685,6 +685,7 @@
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>servo_0</joint_name> <joint_name>servo_0</joint_name>
<sub_topic>servo_0</sub_topic> <sub_topic>servo_0</sub_topic>
<p_gain>10.0</p_gain>
</plugin> </plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0> <a0>0.05984281113</a0>
@@ -708,6 +709,7 @@
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>servo_1</joint_name> <joint_name>servo_1</joint_name>
<sub_topic>servo_1</sub_topic> <sub_topic>servo_1</sub_topic>
<p_gain>10.0</p_gain>
</plugin> </plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0> <a0>0.05984281113</a0>
@@ -767,6 +769,7 @@
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>servo_2</joint_name> <joint_name>servo_2</joint_name>
<sub_topic>servo_2</sub_topic> <sub_topic>servo_2</sub_topic>
<p_gain>10.0</p_gain>
</plugin> </plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.0</a0> <a0>0.0</a0>
@@ -789,6 +792,8 @@
<plugin <plugin
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>rudder_joint</joint_name> <joint_name>rudder_joint</joint_name>
<sub_topic>servo_3</sub_topic>
<p_gain>10.0</p_gain>
</plugin> </plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<jointName>rotor_puller_joint</jointName> <jointName>rotor_puller_joint</jointName>