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posix-configs: added sitl startup script for gazebo quad tiltrotor model

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-02-22 11:31:15 +01:00 committed by Daniel Agar
parent 86c472d8ff
commit 2886fe8da3
2 changed files with 98 additions and 1 deletions
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2
platforms/posix/cmake/sitl_target.cmake
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@ -47,7 +47,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay)
set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus)
set(models none iris iris_opt_flow iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
set(all_posix_vmd_make_targets)
foreach(viewer ${viewers})
foreach(debugger ${debuggers})

97
posix-configs/SITL/init/ekf2/tiltrotor Normal file
View File

@ -0,0 +1,97 @@
uorb start
param load
dataman start
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 21
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_AUTOSTART 13006
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set VT_TYPE 1
replay tryapplyparams
simulator start -s
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
land_detector start vtol
navigator start
ekf2 start
vtol_att_control start
mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
mavlink start -x -u 14556 -r 2000000 -f
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
mavlink boot_complete
replay trystart