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WIP: add X3

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This commit is contained in:
Daniel Agar 2022-08-14 14:27:14 -04:00
parent 61226a39bd
commit 04ac07f07a
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GPG Key ID: FD3CBA98017A69DE
16 changed files with 10971 additions and 158 deletions
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10
ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 Normal file
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#!/bin/sh
#
# @name Ignition Gazebo X3
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w

2
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -78,6 +78,8 @@ px4_add_romfs_files(
3010_quadrotor_x
3011_hexarotor_x
4001_x3
17001_tf-g1
17002_tf-g2
2507_cloudship

63
Tools/simulation/gazebo/models/X3/meshes/propeller_ccw.dae Normal file
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Tools/simulation/gazebo/models/X3/meshes/propeller_cw.dae Normal file
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Tools/simulation/gazebo/models/X3/meshes/x3.dae Normal file
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Tools/simulation/gazebo/models/X3/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>x3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Carlos Aguero</name>
<email>caguero@openrobotics.org</email>
</author>
<author>
<name>Cole Biesemeyer</name>
<email>cole@openrobotics.org</email>
</author>
<description>
</description>
</model>

374
Tools/simulation/gazebo/models/X3/model.sdf Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
<model name="X3">
<pose>0 0 0.053302 0 0 0</pose>
<link name="base_link">
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.0347563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.07</iyy>
<iyz>0</iyz>
<izz>0.0977</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
</collision>
<visual name="base_link_inertia_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/x3.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="rotor_0">
<pose frame="">0.13 -0.22 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_0_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_0_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_0_joint" type="revolute">
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name="rotor_1">
<pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_1_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_1_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_1_joint" type="revolute">
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name="rotor_2">
<pose frame="">0.13 0.22 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_2_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_2_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_2_joint" type="revolute">
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name="rotor_3">
<pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_3_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_3_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_3_joint" type="revolute">
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
</model>
</sdf>

7
Tools/simulation/gazebo/models/X4/model.sdf
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@ -4,7 +4,6 @@
<pose>0 0 0.121078 0 0 0</pose>
<link name="base_link">
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>3.42</mass>
@ -17,7 +16,6 @@
<izz>0.148916</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
@ -143,12 +141,10 @@
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>400</update_rate>
<update_rate>250</update_rate>
<imu>
<enable_orientation>0</enable_orientation>
<angular_velocity>
<x>
<noise type="gaussian">
@ -707,7 +703,6 @@
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- now some plugins -->
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X4</robotNamespace>
<jointName>rotor_0_joint</jointName>

114
Tools/simulation/gazebo/worlds/x3.sdf Normal file
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@ -0,0 +1,114 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
<world name="quadcopter">
<physics name="4ms" type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left" />
<line own="bottom" target="bottom" />
</anchors>
</ignition-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/quadcopter/control</service>
<stats_topic>/world/quadcopter/stats</stats_topic>
</plugin>
<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right" />
<line own="bottom" target="bottom" />
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/quadcopter/stats</topic>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<include>
<uri>model://X3</uri>
</include>
</world>
</sdf>

247
Tools/simulation/gazebo/worlds/x4.sdf
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@ -1,139 +1,114 @@
<?xml version="1.0" ?>
<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
<world name="quadcopter">
<physics name="2.5 ms" type="ode">
<max_step_size>0.002500</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
</plugin>
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
<world name="quadcopter">
<physics name="4ms" type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/quadcopter/control</service>
<stats_topic>/world/quadcopter/stats</stats_topic>
</plugin>
<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/quadcopter/stats</topic>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<include>
<uri>model://X4</uri>
</include>
</world>
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left" />
<line own="bottom" target="bottom" />
</anchors>
</ignition-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/quadcopter/control</service>
<stats_topic>/world/quadcopter/stats</stats_topic>
</plugin>
<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right" />
<line own="bottom" target="bottom" />
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/quadcopter/stats</topic>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<include>
<uri>model://X4</uri>
</include>
</world>
</sdf>

8
platforms/posix/cmake/sitl_target.cmake
View File

@ -398,6 +398,14 @@ endif()
# Ignition Gazebo
add_custom_target(ignition_x3
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x3 none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS logs_symlink
)
add_custom_target(ignition_x4
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x4 none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}

31
src/modules/ignition_simulator/IgnitionSimulator.cpp
View File

@ -44,21 +44,26 @@
void IgnitionSimulator::ImuCallback(const ignition::msgs::IMU &imu)
{
// FLU -> FRD
_px4_accel.update(hrt_absolute_time(),
imu.linear_acceleration().x(),
-imu.linear_acceleration().y(),
-imu.linear_acceleration().z());
static const auto q_FLU_to_FRD = ignition::math::Quaterniond(0, 1, 0, 0);
_px4_gyro.update(hrt_absolute_time(),
imu.angular_velocity().x(),
-imu.angular_velocity().y(),
-imu.angular_velocity().z());
ignition::math::Vector3d accel_b = q_FLU_to_FRD.RotateVector(ignition::math::Vector3d(
imu.linear_acceleration().x(),
imu.linear_acceleration().y(),
imu.linear_acceleration().z()));
ignition::math::Vector3d gyro_b = q_FLU_to_FRD.RotateVector(ignition::math::Vector3d(
imu.angular_velocity().x(),
imu.angular_velocity().y(),
imu.angular_velocity().z()));
_px4_accel.update(hrt_absolute_time(), accel_b.X(), accel_b.Y(), accel_b.Z());
_px4_gyro.update(hrt_absolute_time(), gyro_b.X(), gyro_b.Y(), gyro_b.Z());
}
void IgnitionSimulator::PoseInfoCallback(const ignition::msgs::Pose_V &pose)
{
for (int p = 0; p < pose.pose_size(); p++) {
std::string vehicle_name = "X4";
std::string vehicle_name = "X3";
if (pose.pose(p).name() == vehicle_name) {
const hrt_abstime time_now_us = hrt_absolute_time();
@ -118,8 +123,8 @@ void IgnitionSimulator::PoseInfoCallback(const ignition::msgs::Pose_V &pose)
vehicle_local_position_s local_position_groundtruth{};
local_position_groundtruth.timestamp_sample = hrt_absolute_time();
const matrix::Vector3d position{pose_position.x(), pose_position.y(), pose_position.z()};
// position ENU -> NED
const matrix::Vector3d position{pose_position.y(), pose_position.x(), -pose_position.z()};
const matrix::Vector3d velocity{(position - _position_prev) / dt};
const matrix::Vector3d acceleration{(velocity - _velocity_prev) / dt};
@ -175,11 +180,11 @@ void IgnitionSimulator::run()
ignition::transport::Node node;
// Subscribe to messages of other plugins.
node.Subscribe("/world/quadcopter/model/X4/link/base_link/sensor/imu_sensor/imu", &IgnitionSimulator::ImuCallback,
node.Subscribe("/world/quadcopter/model/X3/link/base_link/sensor/imu_sensor/imu", &IgnitionSimulator::ImuCallback,
this);
node.Subscribe("/world/quadcopter/pose/info", &IgnitionSimulator::PoseInfoCallback, this);
std::string topic = "/X4/command/motor_speed";
std::string topic = "/X3/command/motor_speed";
auto pub = node.Advertise<ignition::msgs::Actuators>(topic);
ignition::msgs::Actuators rotor_velocity_message;

6
src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt
View File

@ -36,7 +36,11 @@ px4_add_library(vehicle_angular_velocity
VehicleAngularVelocity.hpp
)
target_compile_options(vehicle_angular_velocity PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_compile_options(vehicle_angular_velocity
PRIVATE
${MAX_CUSTOM_OPT_LEVEL}
#-DDEBUG_BUILD
)
target_link_libraries(vehicle_angular_velocity
PRIVATE

4
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
View File

@ -112,7 +112,9 @@ bool VehicleAngularVelocity::UpdateSampleRate()
}
// calculate sensor update rate
if ((sample_rate_hz > 0) && PX4_ISFINITE(sample_rate_hz) && (publish_rate_hz > 0) && PX4_ISFINITE(publish_rate_hz)) {
if (PX4_ISFINITE(sample_rate_hz) && (sample_rate_hz > 10) && (sample_rate_hz < 10'000)
&& PX4_ISFINITE(publish_rate_hz) && (publish_rate_hz > 0)
) {
// check if sample rate error is greater than 1%
const bool sample_rate_changed = (fabsf(sample_rate_hz - _filter_sample_rate_hz) / sample_rate_hz) > 0.01f;

8
src/modules/sensors/vehicle_imu/CMakeLists.txt
View File

@ -35,5 +35,11 @@ px4_add_library(vehicle_imu
VehicleIMU.cpp
VehicleIMU.hpp
)
target_compile_options(vehicle_imu PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_compile_options(vehicle_imu
PRIVATE
${MAX_CUSTOM_OPT_LEVEL}
#-DDEBUG_BUILD
)
target_link_libraries(vehicle_imu PRIVATE px4_work_queue sensor_calibration)