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Add crazyflie model

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Add airframes
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This commit is contained in:
JaeyoungLim
2023-04-07 14:23:04 +02:00
parent 8f520ab019
commit 3cc0e32262
4 changed files with 369 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_crazyflie
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#!/bin/sh
#
# @name Gazebo x500 vision
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=crazyflie}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.13
param set-default CA_ROTOR0_PY 0.22
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.13
param set-default CA_ROTOR1_PY -0.20
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.13
param set-default CA_ROTOR2_PY -0.22
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.13
param set-default CA_ROTOR3_PY 0.20
param set-default CA_ROTOR3_KM -0.05
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_MIN1 150
param set-default SIM_GZ_EC_MIN2 150
param set-default SIM_GZ_EC_MIN3 150
param set-default SIM_GZ_EC_MIN4 150
param set-default SIM_GZ_EC_MAX1 1000
param set-default SIM_GZ_EC_MAX2 1000
param set-default SIM_GZ_EC_MAX3 1000
param set-default SIM_GZ_EC_MAX4 1000
param set-default MPC_THR_HOVER 0.60
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
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@@ -75,6 +75,7 @@ px4_add_romfs_files(
4003_gz_rc_cessna
4004_gz_standard_vtol
4005_gz_x500_vision
4006_gz_crazyflie
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
Tools/simulation/gz/models/crazyflie/model.config
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<?xml version="1.0"?>
<!--
........... ____ _ __
| ,-^-, | / __ )(_) /_______________ _____ ___
| ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
| / ,..´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+....... /_____/_/\__/\___/_/ \__,_/ /___/\___/
MIT License
Copyright (c) 2022 Bitcraze
-->
<model>
<name>crazyflie</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Kimberly McGuire (Bitcraze AB)</name>
<email>kimberly@bitcraze.io</email>
</author>
<description>
A model of the Crazyflie 2.X nano-quadcopter
</description>
</model>
Tools/simulation/gz/models/crazyflie/model.sdf
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@@ -0,0 +1,290 @@
<?xml version="1.0" ?>
<!--
........... ____ _ __
| ,-^-, | / __ )(_) /_______________ _____ ___
| ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
| / ,..´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+....... /_____/_/\__/\___/_/ \__,_/ /___/\___/
MIT License
Copyright (c) 2022 Bitcraze
-->
<sdf version="1.8">
<model name="crazyflie">
<pose>0 0 0.0 0 0 3.14</pose>
<link name="crazyflie/body">
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.025</mass>
<inertia>
<ixx>0.000016572</ixx>
<ixy>0.00</ixy>
<ixz>0.00</ixz>
<iyy>0.000016656</iyy>
<iyz>0.00000</iyz>
<izz>0.000029262</izz>
</inertia>
</inertial>
<collision name="crazyflie/body_collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.10 0.10 0.03</size>
</box>
</geometry>
</collision>
<visual name="crazyflie/body_visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://crazyflie/meshes/collada_files/cf2_assembly.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="crazyflie/m1_prop">
<pose>0.031 -0.031 0.021 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.0008</mass>
<inertia>
<ixx>0.000000002*70</ixx>
<iyy>0.000000167*70</iyy>
<izz>0.000000168*70</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="crazyflie/m1_visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://crazyflie/meshes/collada_files/ccw_prop.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="crazyflie/m2_prop">
<pose>-0.031 -0.031 0.021 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.0008</mass>
<inertia>
<ixx>0.000000002*50</ixx>
<iyy>0.000000167*50</iyy>
<izz>0.000000168*50</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="crazyflie/m2_visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://crazyflie/meshes/collada_files/cw_prop.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="crazyflie/m3_prop">
<pose >-0.031 0.031 0.021 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.0008</mass>
<inertia>
<ixx>0.000000002*50</ixx>
<iyy>0.000000167*50</iyy>
<izz>0.000000168*50</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="crazyflie/m3_visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://crazyflie/meshes/collada_files/ccw_prop.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="crazyflie/m4_prop">
<pose>0.031 0.031 0.021 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.0008</mass>
<inertia>
<ixx>0.000000002*50</ixx>
<iyy>0.000000167*50</iyy>
<izz>0.000000168*50</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="crazyflie/m4_visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://crazyflie/meshes/collada_files/cw_prop.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="crazyflie/m1_joint" type="revolute">
<child>crazyflie/m1_prop</child>
<parent>crazyflie/body</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>
</axis>
</joint>
<joint name="crazyflie/m2_joint" type="revolute">
<child>crazyflie/m2_prop</child>
<parent>crazyflie/body</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>
</axis>
</joint>
<joint name="crazyflie/m3_joint" type="revolute">
<child>crazyflie/m3_prop</child>
<parent>crazyflie/body</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>
</axis>
</joint>
<joint name="crazyflie/m4_joint" type="revolute">
<child>crazyflie/m4_prop</child>
<parent>crazyflie/body</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>
</axis>
</joint>
<plugin
filename="ignition-gazebo-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>crazyflie</robotNamespace>
<jointName>crazyflie/m1_joint</jointName>
<linkName>crazyflie/m1_prop</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>2618</maxRotVelocity>
<motorConstant>1.28192e-08</motorConstant>
<momentConstant>0.005964552</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin
filename="ignition-gazebo-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>crazyflie</robotNamespace>
<jointName>crazyflie/m2_joint</jointName>
<linkName>crazyflie/m2_prop</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>2618</maxRotVelocity>
<motorConstant>1.28192e-08</motorConstant>
<momentConstant>0.005964552</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin
filename="ignition-gazebo-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>crazyflie</robotNamespace>
<jointName>crazyflie/m3_joint</jointName>
<linkName>crazyflie/m3_prop</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>2618</maxRotVelocity>
<motorConstant>1.28192e-08</motorConstant>
<momentConstant>0.005964552</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin
filename="ignition-gazebo-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>crazyflie</robotNamespace>
<jointName>crazyflie/m4_joint</jointName>
<linkName>crazyflie/m4_prop</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>2618</maxRotVelocity>
<motorConstant>1.28192e-08</motorConstant>
<momentConstant>0.005964552</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>0.000001</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin
filename="ignition-gazebo-odometry-publisher-system"
name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>
</plugin>
</model>
</sdf>